共查询到20条相似文献,搜索用时 31 毫秒
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Yan-Hui Jing 《International journal of systems science》2017,48(13):2826-2837
In this paper, the problem of adaptive fault-tolerant tracking control for a class of uncertain nonlinear systems in the presence of input quantisation and unknown control direction is considered. By choosing a class of particular Nussbaum functions, an adaptive fault-tolerant control scheme is designed to compensate actuator faults and input quantisation while the control direction is unknown. Compared with the existing results, the proposed controller can directly compensate for the nonlinear term caused by actuator faults and the nonlinear decomposition on the quantiser without estimating its bound. Furthermore, via Barhalant's Lemma, it is proven that all the signals of the closed-loop system are globally uniformly bounded and the tracking error converges into a prescribed accuracy in prior. Finally, an illustrative example is used for verifying effectiveness of the proposed approach. 相似文献
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Observer-based adaptive fuzzy fault-tolerant output feedback control of uncertain nonlinear systems with actuator faults 总被引:1,自引:0,他引:1
Baoyu Huo Shaocheng Tong Yongming Li 《International Journal of Control, Automation and Systems》2012,10(6):1119-1128
This paper develops an adaptive fuzzy control method for accommodating actuator faults in a class of unknown nonlinear systems with unmeasured states. The considered faults are modeled as lock-in-place (stuck at unknown place). With the help of fuzzy logic systems to approximate the unknown nonlinear functions, and K-filters are designed to estimate the unmeasured states. Combining the backstepping technique with the nonlinear fault-tolerant control theory, a novel adaptive fuzzy faults-tolerant control (FTC) approach is constructed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded and the tracking error between the system output and the reference signal converges to a small neighborhood of zero by appropriate choice of the design parameters. Simulation results are provided to show the effectiveness of the control approach. 相似文献
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《Journal of Process Control》2014,24(5):613-620
This paper presents a state space model predictive fault-tolerant control scheme for batch processes with unknown disturbances and partial actuator faults. To develop the model predictive fault-tolerant control, the batch process is first treated into a non-minimal representation using state space transformation. The relevant concepts of the corresponding model predictive fault-tolerant control is thus introduced through state space formulation, where improved closed-loop control performance is achieved even with unknown disturbances and actuator faults, because, unlike traditional model predictive fault-tolerant control, the proposed control method can directly regulate the process output/input changes in the design. For performance comparison, a traditional model predictive fault-tolerant control is also designed. Application to injection velocity control shows that the proposed scheme achieve the design objective well with performance improvement. 相似文献
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不确定非线性多智能体系统的分布式容错协同控制 总被引:1,自引:0,他引:1
针对一类存在未知非线性的多智能体系统,研究具有执行器故障的“领导-跟随”协同控制问题。利用模糊逻辑系统逼近系统的未知非线性,通过设计故障估计器辨识系统的故障。在“跟随者”之间的通信网络为单向连通的情况下,提出分布式模糊容错协同控制器的设计方案,实现“跟随者”的状态跟踪“领导者”的状态。基于Lyapunov稳定性理论,证明系统的跟踪误差一致最终有界。仿真结果验证了所提出设计方法的有效性。 相似文献
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In this article, we study the output tracking control of a class of MIMO nonlinear non-minimum phase systems in the presence of input disturbances. In order to attenuate the effects of disturbances, the method of uncertainty and disturbance estimator (UDE) is extended to the controller design for non-minimum phase systems. Due to the fact that the accumulated disturbances is composed of internal states and external disturbances, a different stability analysis is given, and the overall closed-loop system is proved to be semi-globally stable. The proposed state-feedback controller not only forces system outputs to asymptotically track desired trajectories, but also drives the unstable internal dynamics to follow bounded and causal ideal internal dynamics (IID) solved via stable system centre (SSC) method. Simulation results demonstrate that the proposed controller achieves excellent tracking and disturbance rejection performance via the example of VTOL aircraft which has been the benchmark of nonlinear non-minimum phase systems. 相似文献
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针对水下机器人执行器时变、非线性故障,提出一种基于降阶卡尔曼滤波器的故障估计和滑模容错控制方法.用降阶卡尔曼滤波器估计水下机器人故障解耦子系统的状态,受故障的影响,子系统状态可测.由估计的状态和测量的状态可进一步得到水下机器人执行器的故障信息.滑模容错控制器根据所估计的执行器故障调整控制器的输出以实现容错控制.仿真结果验证了所提出的故障辨识与容错控制算法的有效性. 相似文献
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研究了一类带有时变时滞的不确定非线性关联大系统的自适应模糊容错控制问题.用有界的参考信号代换模糊逼近器输入中的未知时滞信号,使得控制器的设计与应用不再依赖于时滞假设条件,使得控制器的设计和控制方法的应用更为方便.容错反推控制技术和自适应技术相结合来处理代换误差和逼近误差.所提出的方案能有效补偿所有4种类型的执行器故障,同时还可保证闭环系统的全局稳定性.仿真结果进一步验证了本文方法的有效性. 相似文献
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针对一类存在执行器故障和部分解耦扰动的离散时间网络化控制系统,研究测量数据随机丢失情况下的主动容错控制问题。首先,通过模型转换将原系统化为一个与之等价的状态增广系统;然后在考虑测量数据发生随机丢失情况下,构造未知输入观测器(unknown input observer, UIO)实现对系统状态与故障的联合估计,再基于状态和故障的在线估计值,设计基于信号补偿的容错控制律实现对原系统的主动容错控制。在该容错控制算法中,观测器与控制器增益的存在性条件均可利用李雅普诺夫稳定性理论对误差系统进行随机分析得到,相应的估计器和控制器参数可通过在线求解具有凸约束的矩阵不等式获得。最后,通过一个喷气式发动机模型的仿真算例验证所提出的故障估计与主动容错控制方法的有效性。 相似文献
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针对具有传感器故障和未知扰动与测量噪声的线性离散系统, 提出了一种传感器故障区间估计方法. 将传感器故障视为增广状态, 原始系统转化为一个等效的广义系统. 为了得到故障的点估计同时抑制扰动和噪声的影响, 基于有界实引理设计了一个针对广义系统的鲁棒状态观测器. 然后, 通过中心对称多胞体技术实现对故障的区间估计并基于鲁棒正不变集给出了一种降低区间估计计算量的方法. 最后, 通过一个垂直起降(Vertical take-off and landing, VTOL)飞行器线性化模型的仿真算例验证了所提出方法的有效性与优越性. 相似文献
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Min Li Ming Liu Yingchun Zhang Yunhai Geng 《International journal of systems science》2018,49(7):1353-1367
In this paper, a fault estimation and fault-tolerant control problem for a class of T-S fuzzy stochastic time-delay systems with actuator and sensor faults is investigated. A novel sliding mode observer is proposed, which can simultaneously estimate the system states, actuator and sensor faults with good accuracy. Based on the state and actuator fault estimation, a new sliding mode control scheme is developed, which can effectively eliminate the influence of actuator fault. Sufficient conditions for the existence of the proposed observer and fault-tolerant sliding mode controller are provided in terms of linear matrix inequality, and moreover, the reachability of the sliding mode surface can be guaranteed under the proposed control scheme. The propose sliding mode observer and fault-tolerant sliding mode controller can overcome the restrictive assumption that the input matrix of all local modes is the same. Finally, a numerical example is provided to verify the effectiveness of the proposed sliding mode observer and fault-tolerant sliding mode control technique. 相似文献
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