| 引用本文: | 陈龙胜,王琦.输入受限的非仿射纯反馈不确定系统自适应动态面容错控制[J].控制理论与应用,2016,33(2):221~227.[点击复制] |
| CHEN Long-sheng,WANG Qi.Adaptive dynamic surface fault-tolerant control for uncertain non-affine pure feedback systems with input constraint[J].Control Theory and Technology,2016,33(2):221~227.[点击复制] |
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| 输入受限的非仿射纯反馈不确定系统自适应动态面容错控制 |
| Adaptive dynamic surface fault-tolerant control for uncertain non-affine pure feedback systems with input constraint |
| 摘要点击 6615 全文点击 8627 投稿时间：2015-05-17 修订日期：2015-09-04 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2016.50411 |
| 2016,33(2):221-227 |
| 中文关键词 输入饱和 非仿射纯反馈系统 动态面法 反演法 容错控制 |
| 英文关键词 input saturation non-affine pure feedback system dynamic surface control (DSC) backstepping faulttolerant control |
| 基金项目 航空科学基金项目(2015ZC560007), 江西省教育厅科学技术研究项目(GJJ150707), 江西省科技攻关项目(20151BBE50026), 国家自然科学基金 项目(11462015)资助. |
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| 中文摘要 |
| 针对存在执行器故障和输入饱和受限的非仿射纯反馈不确定动态系统, 提出了一种自适应动态面容错控
制策略. 在不损失模型精度和考虑系统输入饱和受限的前提下, 基于中值定理将非仿射系统转化为具有线性结构的
时变不确定系统, 在此基础上, 再利用参数自适应投影技术对有界不确定时变参数进行在线估计, 参数估计误差和
外界扰动采用非线性动态阻尼技术进行补偿, 并利用双曲正切函数和Nussbaum函数处理系统输入饱和受限和控制
增益函数方向未知的问题, 同时将反演法和动态面法相结合设计鲁棒自适应控制器，消除了反演法的计算膨胀问
题, 并且在系统出现执行器失效故障的情况下可确保稳定跟踪. 最后, 根据解耦反推法, 基于Lyapunov稳定性定理
证明了闭环系统的半全局一致最终有界. 仿真结果验证了所设计控制方案的可行性与有效性. |
| 英文摘要 |
| Adaptive dynamic surface fault-tolerant control is proposed for uncertain non-affine pure feedback dynamic
systems with input saturation and unpredictable actuation failures. Under the consideration of input saturation, the nonaffine
system is first transformed into a time-varying system with a linear structure using the mean value theory without
drop-out of nonlinear characteristics; then, the bounded time varying parameters are estimated by adaptive algorithms with
projection, the estimation error and external disturbance are compensated by employing nonlinear damping technology.
By combining backstepping technique with dynamic surface control (DSC), Nussbaum function and hyperbolic tangent
function, the designed algorithm can not only deal with the input saturation but also overcome the “explosion of complexity”
problem and the possible “controller singularity”problem. Furthermore, the proposed control is fault-tolerant.
Finally, based on Lyapunov stability theorem and decoupled backstepping method, the semi-global stability of the closeloop
system is proved. The simulation results demonstrate the feasibility and validity of the proposed control schemes. |
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