| 引用本文: | 姚雪莲,杨艺.可反馈线性化系统的鲁棒自适应容错控制设计[J].控制理论与应用,2020,37(9):2001~2010.[点击复制] |
| YAO Xue-lian,YANG Yi.Robust adaptive fault tolerant control for feedback linearized nonlinear systems[J].Control Theory and Technology,2020,37(9):2001~2010.[点击复制] |
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| 可反馈线性化系统的鲁棒自适应容错控制设计 |
| Robust adaptive fault tolerant control for feedback linearized nonlinear systems |
| 摘要点击 1538 全文点击 632 投稿时间：2018-11-14 修订日期：2020-03-31 |
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| DOI编号 10.7641/CTA.2020.80890 |
| 2020,37(9):2001-2010 |
| 中文关键词 执行器故障 自适应控制 干扰抑制 非线性系统 |
| 英文关键词 actuator failure adaptive control disturbance rejection nonlinear systems |
| 基金项目 常州市科技支撑计划社会发展项目(CE20195027), 江苏省自然科学基金项目(BK20170318), 江苏省高校自然科学基金项目(18KJB580006), 国家 自然科学基金项目(61903165)资助. |
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| 中文摘要 |
| 针对存在不确定执行器故障和未知不匹配干扰的可反馈线性化非线性系统, 提出一种鲁棒自适应容错控
制策略. 首先分别给出系统输入和扰动关于系统输出的相对阶, 针对两种相对阶之间的不同关系设计鲁棒控制器,
抑制干扰对系统输出的影响; 然后针对各故障情况分别设计容错控制器; 最后将各控制器进行融合得到一个综合
故障补偿控制器, 从而有效解决故障模式、类型、大小、时间和外界干扰等多重不确定性, 保证闭环系统稳定和渐近
输出跟踪性能. 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 |
| A robust adaptive fault tolerant control scheme is developed for feedback linearized nonlinear systems with
redundant actuators subject to uncertain failures and unknown unmatched input disturbances. First, the relative degree
indexes of the control and disturbance system models from the controlled plant are specified as a key design condition for
robust adaptive control design. Based on the adaptive controller, a bank of adaptive controllers are designed to deal with all
the considered failure cases. Finally, a composite adaptive control law is obtained based on the introduced fusion technique.
The proposed control scheme can effectively handle the multiple uncertainties of failure pattern, failure type, failure value,
failure time and disturbances, so as to ensure closed-loop stability and asymptotic output tracking. Simulation results are
presented to verify the desired system performance of our proposed control scheme. |
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