Self-Repairing and Adaptive Tracking for MIMO Systems with Sensor Failures

This paper presents a new self-repairing control system (SRCS) for unknown stable multiple-input-multiple-output (MIMO) plants with sensor failures. The proposed method can automatically switch from the faulty sensors to the healthy ones if the sensor failures occur. Only the artificial test signals and the integrators are utilized to detect the sensor failures. Hence, the SRCS requires no mathematical model of the plant. Furthermore, the adaptive λ-tracker is introduced not only to cope with uncertainties in parameters but also to eliminate the bias effects of the injected test signals.