一种具有执行器故障的非线性离散系统的迭代学习控制  

Iterative learning control for discrete-time nonlinear systems subject to actuator faults

作　　者：李丁巳 杨轩 LI Dingsi;YANG Xuan(School of Science,Xi’an Polytechnic University,Xi’an 710048,China)

机构地区：[1]西安工程大学理学院,陕西西安710048

出　　处：《西安工程大学学报》2023年第4期134-141,共8页Journal of Xi’an Polytechnic University

基　　金：陕西省重点研发计划(2020GY-072)。

摘　　要：针对执行器发生随机故障的一类仿射非线性离散系统,研究了一种迭代学习容错控制策略。首先,将执行器故障分解为乘性模型和加性模型。其次,从统计学角度分析了由执行器传输给被控系统的具有故障的控制信号和由控制器传输给执行器的未发生故障的控制信号的性态;同时,导出了控制策略收敛的充分条件。最后,通过数值仿真验证所提结果的有效性和可靠性。理论分析和仿真结果均表明,该策略能够在执行器随机发生故障的情况下,能使被控系统保持良好的跟踪精度。This paper focuses on an iterative learning fault-tolerant control strategy for discrete-time affine nonlinear systems where actuator faults arbitrarily occur.First of all,the actuator fault is decomposed into multiplicative model and additive one.Then,the behaviors of both the faults-corrupted control signals from the actuator to the systems and the faults-free ones from the iterative learning controller to the actuator are analyzed from the statistical point of view.Meanwhile,sufficient conditions of convergence are derived by resorting to norm.Last,in order to verify the effectiveness and reliability of the proposed results,numerical experiments are carried out.Both theoretical analysis and simulations illustrate that the developed strategy is satisfactory in maintaining decent tracking accuracy of the controlled systems,even though faults randomly occur in actuator.

关 键 词：迭代学习控制 离散非线性系统 执行器故障 数学期望 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]