可反馈线性化系统的鲁棒自适应容错控制设计

Robust adaptive fault tolerant control for feedback linearized nonlinear systems

中文关键词  执行器故障  自适应控制  干扰抑制  非线性系统

英文关键词  actuator failure  adaptive control  disturbance rejection  nonlinear systems

中文摘要

      针对存在不确定执行器故障和未知不匹配干扰的可反馈线性化非线性系统, 提出一种鲁棒自适应容错控 制策略. 首先分别给出系统输入和扰动关于系统输出的相对阶, 针对两种相对阶之间的不同关系设计鲁棒控制器, 抑制干扰对系统输出的影响; 然后针对各故障情况分别设计容错控制器; 最后将各控制器进行融合得到一个综合 故障补偿控制器, 从而有效解决故障模式、类型、大小、时间和外界干扰等多重不确定性, 保证闭环系统稳定和渐近 输出跟踪性能. 仿真结果验证了所设计控制方案的可行性与有效性.

英文摘要

      A robust adaptive fault tolerant control scheme is developed for feedback linearized nonlinear systems with redundant actuators subject to uncertain failures and unknown unmatched input disturbances. First, the relative degree indexes of the control and disturbance system models from the controlled plant are specified as a key design condition for robust adaptive control design. Based on the adaptive controller, a bank of adaptive controllers are designed to deal with all the considered failure cases. Finally, a composite adaptive control law is obtained based on the introduced fusion technique. The proposed control scheme can effectively handle the multiple uncertainties of failure pattern, failure type, failure value, failure time and disturbances, so as to ensure closed-loop stability and asymptotic output tracking. Simulation results are presented to verify the desired system performance of our proposed control scheme.