满足圆形极点、方差指标与H∞性能约束的满意容错控制

对一类具有范数有界不确定性的线性连续系统,研究了当执行器发生故障时的静态输出反馈满意容错控制问题。在更实际、更一般的执行器连续增益故障模型下,所设计的控制器确保闭环系统同时满足期望的区域极点指标、稳态方差指标和H∞范数指标约束。同时分析了容错控制中三类期望指标的相容性,并给出了静态输出反馈满意容错控制器存在的充分条件和设计方法。仿真算例验证了方法的有效性,并且通过与不考虑故障的系统比较,进一步说明对系统进行满意容错控制的必要性。     

一类模糊时滞系统的非脆弱H∞保成本容错控制

应用线性矩阵不等式方法研究TS模糊系统的H∞保成本容错控制器的设计问题。针对含有容许的不确定参数和可能的执行器故障的模糊时滞系统,在考虑保成本函数取得最小上界的基础上,兼顾系统的H∞性能。以线性矩阵不等式的形式给出TS模糊系统H∞保成本容错控制器存在的充分条件,把控制器的设计问题转化为线性矩阵不等式的可行解问题。通过例子验证了所给出的H∞保成本容错控制器设计方法的可行性和有效性。     

连续多时滞系统的保成本H∞容错控制

针对状态具有多个时滞的线性连续系统,基于Lyapunov稳定性理论和线性矩阵不等式方法,研究了在执行器发生故障的情况下,连续多时滞系统的保成本H_∞容错控制问题。首先,在无外部扰动时,得到了系统存在容错控制器的一个充分条件|其次,得到了系统存在保成本容错控制器的一个充分条件|最后,在有外部扰动时,得到了系统存在H_∞容错控制器的一个充分条件。进一步,得到了系统存在保成本H_∞容错控制器的一个充分条件以及该控制器的设计方法。仿真结果证明了该方法的正确性和有效性。     

基于T-S模糊模型的网络控制系统鲁棒H∝容错控制

针对同时存在网络时延和数据包丢失的网络环境,研究了执行器故障下一类非线性网络控制系统的鲁棒H_∞容错控制问题。基于不确定T-S模糊模型描述的非线性网络控制系统模型,考虑了更实际、更常见的执行器部分失效情况。通过引入一个积分不等式,获得了此类系统的时滞相关鲁棒稳定性条件,且采用锥补线性化算法给出了此类系统的鲁棒H_∞容错控制器设计方法。仿真算例表明,对于任意容许的不确定性以及执行器故障,所设计的控制器能使系统鲁棒渐近稳定,且具有H_∞范数界。       

不确定网络化控制系统的保性能鲁棒容错控制

研究了一类含有不确定性的网络化控制系统的完整性和保性能容错控制问题.基于Lyapunov稳定性理论和LMI方法,采用状态反馈控制策略,针对含有不确定性的网络化控制系统当执行器发生失效故障时分别推证出了系统仍渐近稳定和能够满足一定控制指标的充分条件,进而通过将矩阵不等式转化为线性矩阵不等式得到了求取两种容错控制器的方法.最后用仿真算例验证了该方法的有效性和可行性.     

不确定非线性系统的模糊保性能容错控制

针对一类具有范数有界参数不确定性的非线性系统和一个二次型性能指标,提出了在执行器故障时保性能控制器的设计方法。采用线性矩阵不等式的方法,得出了系统在执行器故障时保性能控制律存在的充分条件,使系统对允许的不确定性具有鲁棒性,并达到一定的性能指标。仿真结果表明该方法的有效性。     

时变时滞不确定组合系统的可靠保性能鲁棒控制

针对一类孤立子系统中状态、控制输入及互联项均含有时变时滞的不确定组合系统,采用增益故障模型,提出了考虑执行器故障的可靠保性能控制问题。该执行器故障模型概括了执行器正常、执行器部分退化和执行器完全失效三种情况,系统的性能函数是带有故障输入项的积分二次函数。利用Lyapunov方法及线性矩阵不等式(LMI)方法,得到系统存在可靠保性能控制器的充分条件和控制器的设计方法,并给出了系统的可保性能表达式。最后,通过一个数值例子验证了所得结果的正确性。     

一类基于T-S模型的非线性系统模糊完整性控制

针对一类非线性系统的执行器故障,提出了一种基于T-S模型的模糊完整性容错控制设计方法。将不同模糊规则下的系统模型转化为其中一个模糊规则下的不确定性系统,分别给出执行器故障前后模糊控制器存在的充分条件,证明了两个充分条件存在交集的情况下,根据LMI原理设计的模糊完整性控制器使得在执行器卡死或失效时,仍然能够保证非线性闭环系统的稳定性。仿真算例表明了本方法的有效性。     

基于观测器的四旋翼容错控制及仿真研究

针对四旋翼飞行器执行器故障的问题,提出7一种基于自适应观测器的积分反演滑模容错控制策略,以保证飞行器的安全性和可靠性.建立考虑执行器故障的四旋翼飞行器动力学模型;设计一种自适应故障估计观测器用来观测系统的状态和估计故障信息;采用积分反演和滑模控制相结合的方法分别设计姿态容错控制器和位置控制器,完成姿态和位置的轨迹跟踪....     

一类非线性系统的执行器组合故障自适应容错控制

针对一类具有执行器组合故障的多输入单输出非线性最小相位系统提出了自适应容错跟踪控制方案。考虑系统执行器卡死和部分失效组合故障,基于微分几何反馈线性化,设计了模型参考自适应容错控制算法。设计的控制律能够保证系统在执行器故障时闭环系统稳定,而且渐近跟踪给定的参考信号。仿真结果表明了所提方法的有效性。     

LMI approach to reliable H∞ control of linear systems

The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actuator faults that can be modeled by a scaling factor. The resulting control systems are reliable in that they provide guaranteed asymptotic stability and H∞ performance when some control component (actuator) faults occur. A numerical example is also given to illustrate the design procedure and their effectiveness. Furthermore, the optimal standard controller and the optimal reliable controller are compared to show the necessity of reliable control.     

Output feedback based adaptive robust fault-tolerant control for a class of uncertain nonlinear systems

An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed. The two chief ways in which the system performance can degrade following an actuator-fault are undesirable transients and unacceptably large steady-state tracking errors. Adaptive control based schemes can achieve good final tracking accuracy in spite of change in system parameters following an actuator fault, and robust control based designs can achieve guaranteed transient response. However, neither adaptive control nor robust control based fault-tolerant designs can address both the issues associated with actuator faults. In the present work, an adaptive robust fault-tolerant control scheme is claimed to solve both the problems, as it seamlessly integrates adaptive and robust control design techniques. Comparative simulation studies are performed using a nonlinear hypersonic aircraft model to show the effectiveness of the proposed scheme over a robust adaptive control based faulttolerant scheme.     

LMI approach to reliable H∞ control of linear systems

The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actuator faults that can be modeled by a scaling factor. The resulting control systems are reliable in that they provide guaranteed asymptotic stability and H_∞, performance when some control component (actuator) faults occur. A numerical example is also given to illustrate the design procedure and their effectiveness. Furthermore, the optimal standard controller and the optimal reliable controller are compared to show the necessity of reliable control     

不确定时滞系统的指数稳定保代价可靠控制

针对一类含有时变时滞的不确定参数系统,研究了在执行器发生故障情况下系统指数稳定保代价可靠控制器设计问题。系统的性能函数是含有指数项和故障输入项的积分二次型函数。经过适当的状态变换,将原系统的指数稳定保代价可靠控制问题转化为另一个等价系统的保代价可靠控制问题。根据Lyapunov稳定性理论,得到了系统存在指数稳定保代价可靠控制器应满足的一个矩阵不等式,进一步将这个矩阵不等式转化为线性矩阵不等式(LMI),并给出了系统的保代价表达式。利用论文方法设计的控制器能够使得时滞系统对于任意允许的不确定量以及执行器故障都保持鲁棒可靠指数稳定,并且使系统具有保代价的性能指标。仿真结果表明了该控制器设计方法的有效性。     

不确定广义系统的保成本可靠控制

对一类含有时变范数有界参数不确定广义系统和部分执行器可能失效的系统,结合一个二次型性能指标,研究了使得闭环系统保持正则、无脉冲和稳定,且闭环性能指标值不超过某个确定界的保成本可靠控制律的设计问题。通过矩阵不等式导出保成本可靠控制律的一个充分存在条件,进而用线性矩阵不等式给出了保成本可靠控制器的一个参数化的表示。在此基础上,通过建立并求解一个凸优化问题,给出了最优保成本可靠控制律的设计方法。最后,通过例子对所得结论加以说明。     

Robust reliable guaranteed cost control for uncertain singular systems with time-delay

The robust reliable guaranteed cost control for uncertain singular delay systems with actuator failures and a given quadratic cost function is studied. The system under consideration involves constant time-delay and norm-bounded parameter uncertainties. The purpose is to design state feedback controllers which can tolerate actuator failure, such that the closed-loop system is stable, and the specified cost function has an upper bound for all admissible uncertainties. The sufficient conditions for the solvab...     

Robust H∞ guaranteed cost satisfactory fault-tolerant control for discrete-time systems with quadratic D stabilizability

The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertainties existing in both the state and control input matrices.Based on a more practical and general model of actuator continuous gain failures,taking the transient property,robust behaviour on H∞ performance and quadratic cost performance requirements into consideration,sufficient conditions for the existence of satisfactory fault-tolerant controller are given and the effective design steps with constraints of multiple performance indices are provided.Meanwhile,the consistency of the regional pole index,H∞ norm-bound constraint and cost performance indices is set up for fault-tolerant control.A simulation example shows the effectiveness of the proposed method.     

Robust H∞ guaranteed cost satisfactory fault-tolerant control for discrete-time systems with quadratic D stabilizability

The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertainties existing in both the state and control input matrices. Based on a more practical and general model of actuator continuous gain failures, taking the transient property, robust behaviour on H∞ performance and quadratic cost performance requirements into consideration, sufficient conditions for the existence of satisfactory fault-tolerant controller are given and the effective design steps with constraints of multiple performance indices are provided. Meanwhile, the consistency of the regional pole index, H∞ norm-bound constraint and cost performance indices is set up for fault-tolerant control. A simulation example shows the effectiveness of the proposed method.