一类非线性系统的输出反馈容错控制

针对一类非线性系统,研究了故障情况下基于输出反馈的容错控制问题．首先基于Zhang的自适应观测器和Lin的输出反馈控制律设计了正常系统的标称控制律,分析了该控制律的性能,并得到了故障发生后仍然采用该控制律时闭环系统状态有界的充分条件．在此基础上,设计了故障系统的容错控制律,证明了若发生的故障满足前述的充分条件,则故障系统在该容错控制律下稳定．数值仿真表明了该方法的有效性．

Output feedback fault-tolerant control of a class of nonlinear systems

An output feedback fault-tolerant control scheme is proposed for a class of nonlinear systems with unknown faults.Firstly,a nominal controller is designed by integrating Zhang's adaptive observer with Lin's output feedback con- troller.Under the nominal controller,the closed-loop system without faults is stable,and the closed-loop system with faults is bounded if a sufficient condition on the faults holds.Then,a fault-tolerant controller is designed for the faulty system. For faults satisfying the former sufficient condition,the faulty system under the fault-tolerant controller is proved stable. Finally,a numerical example is included to demonstrate the effectiveness.