一体化执行器饱和线性矩阵不等式跟踪容错控制器设计

针对一类执行器幅值饱和的不确定非线性系统,提出了基于线性矩阵不等式的一体化主动容错控制器设计方法.考虑执行器传感器同时故障情形,采用系统增维方法,将原系统等效转化为仅含执行器故障虚拟系统,简化了容错控制器设计.其次采用凸组合法对执行器饱和非线性进行描述,确保控制输入始终在幅值范围以内.在此基础上,设计了集自适应估计律与控制器于一体的主动容错控制器,并将控制器增益解算方法,转化线性矩阵不等式约束下的优化问题.最后通过飞机数值算例验证了设计方法的有效性.

The integrated tracking fault tolerant controller design under actuator saturation with linear matrix inequality algorithm

The scheme of integrated active fault tolerant controller by linear matrix inequality (LMI) is proposed in this paper, which is used for the uncertain nonlinear system with actuator saturation. Firstly the case that both actuator and sensor faults exist simultaneously is considered, the expanding dimensions is introduced to the new system, and the original system is transformed to the virtual system which only contains the actuator faults, thus it will be more convenient for the controller design. Then the nonlinearity of actuator saturation is described by the convex composing method, and this will make the control input avoid the saturation. Meanwhile an active fault tolerant controller with adaptive estimated algorithm is designed, and the calculating algorithm is provided under LMI constraints. Finally an airplane example is given to demonstrate the effectiveness of the algorithm.