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This paper presents an active fault-tolerant method to mitigate sensor failures in multimotor synchronous control. First, inspired by the construction of the coupling matrix in complex network synchronous output, a consistent matrix is designed based on structural redundancy in synchronous control. This consistent matrix has two advantages: one is that it can reflect different sensor output similarities and the other one is that it can detect, locate, and estimate the sensor fault. Then, the fault information is integrated into the design of tolerance control with an improved mean feedback mechanism. The proposed method is suitable for both single and multiple fault situations, and its effectiveness is finally verified by both MATLAB simulation and the ABB semiphysical experimental platform.

Active Fault Tolerance Control Based on Consistent Matrix for Multimotor Synchronous System