考虑动态性能的一类MIMO非线性系统执行器故障自适应补偿控制  

Adaptive Compensation Control Considering the Transient Performance of a Class of MIMO Nonlinear Systems with Actuator Failures

作　　者：邱相玮 张绍杰[1] 刘春生[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《信息与控制》2014年第1期63-67,75,共6页Information and Control

基　　金：国家自然科学基金资助项目(61074063);中央高校基本科研业务费资助项目(NZ2012007)

摘　　要：对于一类具有执行器故障的多输入多输出非线性最小相位系统设计了自适应补偿控制律.考虑系统的执行器卡死和部分失效故障,在微分几何反馈线性化的基础上,设计了基于PPB(prescribed performance bound)方法和反演控制的自适应补偿跟踪控制律.设计的控制律能够保证系统在执行器故障时闭环稳定,渐近跟踪给定的参考信号,而且具有确定的动态性能.仿真结果表明了本文设计方法的有效性.An adaptive compensation control law is designed for a class of multi-input-multi-output nonlinear mini- mum phase systems with actuator failures. Based on the differential geometry feedback linearization method, prescribed performance bound, and backstepping technique, an adaptive compensation tracking-control scheme is designed for systems with actuators lock in space and loss-of-effectiveness failure. The proposed control law can guarantee that a closed-loop system with actuator failure stably and asymptotically tracks the given reference signals, and system transient performance is satisfactory. The simulation results demonstrate the effectiveness of the proposed method.

关 键 词：多输入多输出非线性系统 自适应补偿 PPB 反演控制 执行器故障 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]