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针对发生执行器故障的饱和非线性系统提出一种主动容错控制方法.考虑系统存在的外界干扰情形,运用H∞控制结合饱和约束设计了自适应容错控制器.首先,引入饱和幅值以确保控制输入始终在界范围之内,设计包含故障估计值的自适应状态反馈控制输入;其次,为实现系统具有鲁棒稳定性,同时具有最大容错椭球体稳定域的控制目标,采用李雅普诺夫理论结合H∞控制方法,并运用不变集理论估计最大椭球体稳定域,将自适应容错控制器的设计方法转化为求解线性矩阵不等式约束下的多目标优化问题;最后,通过一数值算例将自适应与固定增益控制器设计方法进行对比分析.研究结果表明:自适应控制器的性能更优,更适合用于受饱和约束非线性系统的容错控制.
An active fault-tolerant control method is proposed for saturated nonlinear systems with actuator failures. Considering the external interference in the system, an adaptive fault-tolerant controller is designed by using H∞ control combined with saturation constraints. First, the saturation amplitude is introduced to ensure the control The input is always in the bounds of the range, and the adaptive state feedback control input including the fault estimate is designed. Secondly, in order to achieve the robust stability of the system and the control target with the maximum fault-tolerant ellipsoid stable region, Lyapunov theory is used H∞ control method, and using the invariant set theory to estimate the maximum ellipsoid stable region, the adaptive fault-tolerant controller is transformed into a multi-objective optimization problem constrained by linear matrix inequalities. Finally, The results show that the adaptive controller has better performance and is more suitable for fault-tolerant control of nonlinear systems with saturation constraints.