控制增益符号未知的非线性系统执行器故障补偿  

Actuator failure compensation for the uncertain nonlinear system with unknown control gain signs

作　　者：吴跃飞[1] 马大为[1] 姚建勇[1] 乐贵高[1] 

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《哈尔滨工程大学学报》2015年第2期232-236,共5页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(51305203);"十二五"国防基础科研项目(B2620110005)

摘　　要：针对一类具有方向未知的不确定增益函数和未知执行器故障的不确定非线性系统,将Nussbaum函数增益与自适应输出反馈设计相结合,提出一种自适应鲁棒非线性容错控制方案。本方案无需精确获得执行器故障信息,并通过引入控制参数在线自适应调整技术,使得控制器对参数、干扰以及故障变化具有很强的鲁棒性,采用Nussbaum增益方法放松了对高频增益符号已知的假设,利用鲁棒项抵补偿自适应逼近误差和未知外界干扰的影响,通过李雅普诺夫方法从理论上严格证明了整个闭环系统信号的有界性和渐进的输出跟踪。仿真结果验证了该方法的有效性。This paper designed an adaptive robust nonlinear fault tolerant control program was designed for a class of uncertain nonlinear systems with unknown virtual control gain nonlinearities and unknown actuator failures, incorporating Nussbaum function gain with adaptive output feedback design tools. This design method does not require the real value of the actuator failure, and by introducing adaptive online adjustment technology of control parameters, the great robustness against fault and interference is guaranteed. Moreover, the control parameters are adjusted dy- namically in such a fashion that it does not need fault detection. The assumption on the known high-frequency gain signs was loosened with Nussbaum function gain approach, and the influence from adaptive approximation error and unknown external interference is compensated by robustness item. The boundedness of all the closed-loop signals and the asymptotic output tracking are proven strictly by the Lyapunov method. The simulation results validated the effectiveness of the proposed design method.

关 键 词：执行器故障 高增益状态观测器 自适应鲁棒控制 不确定 NUSSBAUM增益 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]