中文摘要：

针对带有未知扰动的线性系统微小故障的早期诊断,提出一类综合自适应滑模观测器方法,使得该观测器既能估计微小故障又能对未知扰动有强鲁棒性.将线性系统通过坐标变换解耦为两个子系统,其中：一个子系统与扰动无关,对其设计自适应观测器,实现对微小故障的检测;另一个子系统既受未知扰动又受微小故障的影响,对其设计滑模观测器,以消除未知扰动的影响,从而保证系统的强鲁棒性.通过四旋翼直升机模型验证了所提出的综合自适应滑模观测器微小故障早期诊断检测算法的有效性.

英文摘要：

A synthesized adaptive and sliding-mode observer （SMO） was designed for the incipient fault in a class of linear system with unknown disturbance, which can not only estimate the incipient fault, but also have strong robustness against unknown disturbances. The linear system was transformed by coordinate transformation into two subsystems, one of which was free from disturbances and an adaptive observer is designed to estimate the incipient fault, the other of which was affected by disturbances and incipient faults and a sliding mode observer is designed to eliminate the effect of unknown disturbances and ensure the ro- bustness of the system. Simulation results of the quadrotor helicopter verify the efficiency of the proposed adaptive and sliding-mode observer-based incipient fault detection algorithm.