带有执行器故障的非线性系统的H_∞容错控制  

Fault-Tolerant Control for Nonlinear System with Actuator Failures

作　　者：罗跃生[1,2,3] 温秀平[2] 龚新平[2] 付丽荣 张醒研[3] 

机构地区：[1]哈尔滨工程大学水下智能机器人技术国防科技重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学理学院,黑龙江哈尔滨150001

出　　处：《控制工程》2012年第1期123-127,共5页Control Engineering of China

基　　金：哈尔滨工程大学水下智能机器人技术国防科技重点实验室开放课题研究基金资助(002010260730)

摘　　要：为了解决复杂非线性系统执行器故障问题,提高系统的安全性和可靠性,本文针对一类带有执行器故障的非线性系统,提出了一种H∞容错控制方法。在假设非线性项满足李普希茨条件的前提下,利用线性矩阵不等式方法,给出了有干扰和无干扰时控制器存在的充分条件。该条件不仅保证了系统在执行器故障和正常情况下均能达到渐近稳定,而且能满足一定的性能指标,对干扰具有很好的抑制作用。最后将该方法应用到了水下机器人航向控制系统中,仿真效果较好,说明所给方法是有效性。In order to solve complex nonlinear system with actuator failures, fanh-tolerant control approach is presented for a nonlinear system with actuator failures to improve the safety and reliability in system. Under the circumstance of the part of nonlinear being suitable for Lipschitz condition, a sufficient condition for the existence of the controller is proposed with and without interference, for using the method of linear matrix inequality. Not only does this condition guarantee the system reach the asymptotic stability in actuator failures and normal circumstances, but meet performance index, and has good inhibitory action to interference. Finally, this method is applied to the heading control system of autonomous underwater vehiclel, the results of simulation are well and display the effectiveness of method given.

关 键 词：非线性系统 执行器故障 容错控制 线性矩阵不等式 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]