未知仿射非线性系统的执行器容错控制设计  

Control Design for Unknown Affine Nonlinear Systems Against Actuator Faults

作　　者：李平[1] 金福江[1] 

机构地区：[1]华侨大学信息科学与工程学院,福建厦门361021

出　　处：《控制工程》2014年第1期107-110,共4页Control Engineering of China

基　　金：国家自然科学基金(61273069;61203040;51206057);福建省高校产学合作科技重大项目(2013H61010135;2011H6019);中央高校基本科研业务费资助项目(JB-ZR1204);福建省科技计划重点项目(2009H0033);福建省自然科学基金青年创新项目(2011J05153)

摘　　要：针对一类多输入单输出未知仿射非线性系统研究了在执行器发生故障情况下的容错控制问题,基于反步设计和自适应模糊逼近理论给出了控制方案使闭环系统能够同时容忍执行器的卡死和失效故障。在每一步设计中采用一个模糊逼近器来逼近未知函数,其中包括系统函数和由故障引起的未知动态。然后基于Lyapunov稳定性理论设计自适应律在线调节逼近器的参数,使其可以自动补偿故障对系统的影响。最终得到的控制器能够在执行器发生卡死和失效故障的情况下利用未卡死执行器的有效部分保证闭环系统是稳定的,并且输出能够以指定的精度跟踪给定参考信号。仿真算例证实了该方法的可行性和有效性。This paper studies the problem of fault-tolerant control for a class of muhi-input single-output unknown affine nonlinear sys- tems which subject to actuator faults. Based on backstepping design and adatpive fuzzy approximation theory, a control scheme is pro- posed to tolerate both lock-in-place and loss-of-effectiveness faults of actuators. In each step, a fuzzy approximator is used to approxi- mate the unknown functions, which include the system functions and the unknown dynamics caused by the faults. And then, adaptive laws are designed based on Lyapunov stability to update the parameters of the approximators, which can accommodate the influence of the faults automaticly. The controller obtained in the last step can guarantee the closed-loop stability and desired tracking precision by the remain effective actuator, though there are lock-in-place and loss-of-effectiveness faults in the actuators. Simulation example con- firms the effectiveness of the control method.

关 键 词：容错控制 自适应模糊逼近 仿射非线性系统 步反设计 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]