中文摘要：

以四旋翼直升机姿态控制系统为对象，针对一类过驱动系统，由控制分布阵列不满秩而引起的执行器故障诊断难的问题，本文采用了一种新颖的多观测器故障诊断方法对执行器故障进行检测和估计，进而设计一种具有故障补偿并且满足H∞性能的动态输出反馈跟踪控制器。该方法不仅能够快速的检测和估计出单通道执行器故障，而且能够有效的补偿故障对系统稳定性的不利影响，保证系统在单通道执行器故障下具有一定的姿态跟踪能力。相对于状态反馈控制器，所提算法有效的避免了模拟状态量而带来的误差，一定程度上提高了系统的控制精度和可实现性。最后通过Ouanser3-DOFHover半物理仿真平台验证所提算法的可行性和有效性。

英文摘要：

A novel active fault tolerant control based on multiple observers for over actuated system is focused on to deal with the difficulty of fault diagnosis caused by the control distribution matrix with no full column rank. The proposed algorithm is combined with the robust control to design a output feedback tracking controller and satisfy the H∞ performance. It can not only effectively detect and estimate the single channel actuator failure, but also compensate the fault adverse effects on the system stability so as to ensure a certain attitude tracking performance in case of the single channel actuator faults. Compared with the state feedback controller, the active fauh tolerant control law for Quadrotor which is a class of over actuated system is able to decrease the error brought by state simulation. To some extent, the proposed algorithm improves the accuracy and rapidity. Finally, the method is verified reliable and effective on the Quanser 3-DOF Hover platform.