执行器故障下不确定非线性系统的鲁棒保成本控制

对一类执行器故障的非线性不确定系统,研究了具有L2增益扰动衰减性能指标约束的鲁棒保成本控制器的设计问题.提出了更实际、更一般的执行器故障模型；给出了具有L2增益扰动衰减性能的鲁棒保成本控制系统的概念和属性.采用HJI不等式方法,导出了故障闭环系统渐近稳定、具有给定的抗干扰能力和成本函数有上界的充分条件.仿真实例验证了结论的有效性.

Robust Guaranteed Cost Control for Uncertain Nonlinear Systems with Actuator Failures

For uncertain nonlinear systems under the conditon of actuator failures, the problem of robust guaranteed cost controller design with L2-gain disturbance attenuation performance constraints is studied. A more practical and general model for actuator failures is put forward, and the concept and properties of robust guaranteed cost control system with L2-gain disturbance attenuation performance are also presented. Furthermore, based on Hamihon-Jacobi-Isaacs inequalities approach, a sufficient condition is given, under which the closed-loop system with actuator failures is asymptotically stable with given anti-disturbance performace and the cost function owns an upper bound. A simulation example shows the efficiency of the design method.