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1.
In this paper, we develop two sliding mode—model reference adaptive control (MRAC) schemes for a class of delayed nonlinear dynamic systems under actuator failure that are robust with respect to actuator failures, to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. Appropriate Lyapunov–Krasovskii‐type functionals with ‘virtual’ adaptation gains are introduced to design the adaptation algorithms, and to prove stability. Two different controllers are designed: one with discontinuous and another with continuous control actions, respectively. Copyright © 2011 John Wiley & Sons, Ltd. 相似文献
2.
考虑有执行器故障和有界扰动的鲁棒自适应容错补偿控制 总被引：6，自引：2，他引：6
考虑在执行器故障和外界干扰下, 用直接自适应状态反馈控制策略解决线性时不变连续时间系统的鲁棒容错补偿控制问题. 提出更一般且更实际的执行器故障模型. 在执行器故障和扰动的上界都未知下, 提出自适应律在线估计未知控制器参数. 然后基于自适应策略的信息, 构造一类鲁棒自适应状态反馈控制器自动补偿故障和扰动的影响. 基于李亚普诺夫定理, 在执行器故障和干扰下, 所得的自适应闭环系统可以被保证渐进稳定. 最后给出一个火箭整流罩模型的例子和它的仿真结果. 相似文献
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This paper develops an adaptive state feedback coordinated decentralized control scheme for a class of dynamic systems with state delay in subsystems and in the interconnections and in the presence of unknown actuator failures in each subsystem. The main contributions of this paper are the development of a new controller parametrization which attempt to anticipate the future states and failures, the introduction of an appropriate Lyapunov‐Krasovskii type functional to design the adaptation algorithms, and a stability proof. 相似文献
4.
In this article, adaptive state feedback stabilising controllers for networked adaptive control systems with unknown actuator failures are developed. The problems of networked control systems (NCSs) such as transmission delays and data-packets dropout, induced by the insertion of data networks in the feedback adaptive control loops are also considered. The novelty of this article consists in the combination of different aspects in NCSs: state tracking control of systems with unknown parameters, unknown actuator failures, network-induced delays and data-packets dropout. Normalised adaptive laws are designed for updating the controller parameters. Sufficient conditions for Lyapunov stability are derived in the case of uncertainty due to actuator failures, delays and data-packets dropout. Simulation results are given to illustrate the effectiveness of our design approach. 相似文献
5.
WANG Hui-Jiao 《自动化学报》2008,(8)
The problem of reliable robust H_∞tracking control for a class of uncertain Lur'e singular systems is studied.A practical and general failure model of actuator and sensor is considered by using convex polytopic uncertainties to describe control surface impairment.Some sufficient conditions are presented for the case of actuator,sensor and control surface failures in terms of linear matrix inequalities (LMIs).The resultant control systems are reliable in that they guarantee closed-loop system robust stability with H_∞performance and the output tracking the reference signal without steady-state error when all control components are operational as well as when some control components experience failures.Finally,a numerical example is given to show the effectiveness of the proposed methods. 相似文献
6.
Chen Sun;Yan Lin;Lin Li; 《国际强度与非线性控制杂志
》2024,34(8):5063-5078
》2024,34(8):5063-5078
In this paper, an adaptive fault-tolerant control (FTC) scheme is proposed for a class of uncertain nonlinear systems with actuator failure, in which a healthy actuator is available as a backup. Instead of monitoring the failure in real-time, an intermittent monitoring mechanism (IMM) is proposed by designing a set of monitoring functions operating only at discrete time instants, which makes the proposed scheme more applicable for networked control systems for which the actuator status has to be monitored via network. An adaptive backstepping controller is designed with the errors being modified to include shifting functions. Once actuator failure is detected by the monitoring functions, the actuator is switched to its backup and the controller is reconfigured by updating the shifting functions so that the tracking error can be driven into the prescribed performance in a given time. 相似文献
7.
The problem of reliable robust H∞ tracking control for a class of uncertain Lur'e singular systems is studied. A practical and general failure model of actuator and sensor is considered by using convex polytopic uncertainties to describe control surface impairment. Some sufficient conditions are presented for the case of actuator, sensor and control surface failures in terms of linear matrix inequalities (LMIs). The resultant control systems are reliable in that they guarantee closed-loop system robust stability with H∞ performance and the output tracking the reference signal without steady-state error when all control components are operational as well as when some control components experience failures. Finally, a numerical example is given to show the effectiveness of the proposed methods. 相似文献
8.
This paper considers the time-varying formation problem of tracking a reference for a class of networked systems consisting of multiple nonlinear subsystems with unknown parameters and non-identical nonlinear dynamics. The communication status among the subsystems is represented by a directed graph. A portion of subsystems have no access to the information of reference. Distributed adaptive controllers are proposed by employing backstepping technique. It is proved that, with the proposed scheme, all the closed-loop signals are globally bounded and all the subsystems can track the reference while building and keeping the prescribed time-varying formation shape. Simulation results are given to illustrate the effectiveness of the proposed scheme. 相似文献
9.
In this paper, we use the matrix measure technique to study stable fault-tolerance control of networked control systems. State feedback networked control systems with the network-induced delay, parameter uncertainties, sensor failures and actuator failures are considered. State feedback gain K is designed for any invariant delay , and some theorems and sufficient conditions for stable fault-tolerance control are given. Example is presented to illustrate the effectiveness of these theorems. 相似文献
10.
针对离散/连续时间情况下时不变/时变多种不同的鲁棒自适应控制系统,基于归纳法提出一种统一的传统分析方法,该方法为鲁棒自适应控制器的设计提供了一般性的指导原则.在设计和实现鲁棒自适应控制器时要求具有与模型误差先验知识相关的假设,通过所提出的算法可以将该假设消除,使得已有的鲁棒自适应控制理论得到进一步发展.此外,通过稳定性分析证明了该算法对于更宽松边界的模型误差具有鲁棒性.最后,归纳总结了近期自适应控制方法在处理非光滑不确定性、执行器故障补偿、欠驱动非完整约束、分布式一致性和随机系统控制等问题上取得的代表性成果. 相似文献
11.
KONG De-Ming FANG Hua-Jing 《自动化学报》2005,(2)
In this paper, we use the matrix measure technique to study stable fault-tolerance control of networked control systems. State feedback networked control systems with the network-induced delay, parameter uncertainties, sensor failures and actuator failures are considered. State feedback gain K is designed for any invariant delay T, and some theorems and sufficient conditions for stable fault-tolerance control are given. Example is presented to illustrate the effectiveness of these theorems. 相似文献
12.
In this paper, a supervisory adaptive fault‐tolerant control scheme is proposed for a class of uncertain nonlinear systems with multiple inputs. The multiple inputs are the outputs of an actuator group that may act either on one control surface or on multiple control surfaces and may fail during operation. With some actuator groups as backups, the supervisory adaptive control includes 2 modes: the adaptive compensation mode and the switching mode. The former is used to compensate for the failure of an actuator group as long as at least one actuator of the group works normally, and the latter, to switch the controller from a failed group to a healthy one when the failure is detected by one of the monitoring functions that are constructed to supervise some variables related to system stability. It is shown that with the proposed scheme, all signals of the closed‐loop system are bounded, and prescribed transient and steady state performance of the tracking error can be guaranteed. An aircraft example is used to demonstrate the application of the proposed scheme. 相似文献
13.
In this paper, we investigate the adaptive state‐feedback stabilization problem for a class of nonlinear systems subject to parametric uncertainties, time‐varying delay, and Markovian jumping actuator failures. First, some fundamental results, including the infinitesimal generator and conditions for the existence and uniqueness of the solution, are established for nonlinear systems w.r.t. Markovian vector and time‐varying delay. Subsequently, corresponding stability criterion is generalized to the considered systems. By employing the backstepping method and the tuning function technique, a systematic adaptive fault‐tolerant control scheme is proposed, which guarantees the boundedness in probability of all the closed‐loop signals. It is noted that no fault detection and diagnostic block are needed, and the control law can be adapted automatically by taking account of the innovative state information. The efficiency of the designed controller is demonstrated by an illustrative example. Copyright © 2015 John Wiley & Sons, Ltd. 相似文献
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This paper investigates the consensus tracking problem for general linear multiagent systems on directed graph containing a spanning tree. For the considered linear systems, the consensus tracking aim cannot be achieved by using only memoryless static relative output feedbacks. Of particular interest is that both current and delayed relative output information of agents are required to achieve consensus. For the case of continuous communication among agents, an artificial delay output feedback control method is proposed. By utilizing the Taylor representation for the delayed signal with the remainder in the integral form, a delay‐dependent sufficient condition is presented to guarantee the exponential convergence of the global tracking error systems. For the intermittent case, the consensus tracking performance can still be guaranteed based on a multiple graph‐dependent Lyapunov functionals method. It is theoretically revealed that the time delay plays a key role in the exponential convergence of the closed‐loop systems, and the definite relationships among the time delay, network structure, communication rate, and consensus convergence rate are also provided. The effectiveness of the proposed control scheme is confirmed by numerical simulations. 相似文献
17.
研究直接自适应状态反馈控制策略解决一类有故障和摄动关联链接的分布式大系统渐进跟踪和扰动抑制问题. 根据特殊的分布式结构, 在所有关联故障因子, 关联通道摄动和子系统外部干扰的上界都未知下, 提出自适应率在线升级控制器参数. 基于自适应策略信息, 构造一类分布式状态反馈控制器自动补偿故障和摄动影响, 同时抑制外部扰动. 在关联通道有故障摄动和外部扰动情况下, 所提出的自适应鲁棒跟踪控制器可以保证所得自适应闭环大系统稳定, 及每个子系统渐进输出跟踪所对应参考信号. 最后由一个仿真例子评估所提技术的有效性. 相似文献
18.
This paper investigates the issue of adaptive reliable tracking control for a class of uncertain nonlinear parametric strict‐feedback systems under actuator faults. To guarantee better transient performance of adaptive systems especially when actuator faults occur, a novel prescribed performance bounds (PPBs) method based on exponent‐dependent barrier Lyapunov function is developed. Differing from the existing results where the control schemes have introduced the strictly monotone smooth function to achieve constrained error transformation, the proposed PPBs scheme is designed by using the time‐varying barriers to constrain the error trajectories, which accurately characterizes the convergence rates and convergence bounds of errors. Finally, under the framework of backstepping technique and Lyapunov stability theorem, an adaptive reliable controller is designed to ensure that all the closed‐loop signals are semiglobally uniformly ultimately bounded with the tracking errors converging to the specified PPBs. Simulation results demonstrate the effectiveness of the proposed approach. 相似文献
19.
Tracking Performance Achievement for Continuous‐Time Delayed Linear Systems Subject to Actuator Saturation and output Disturbances 
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下载免费PDF全文 Adel Mahjoub Vincent Van Assche Fouad Giri Fatima Z. Chaoui 《Asian journal of control》2015,17(5):2019-2024
Controlling continuous‐time input‐delayed nonminimum‐phase linear systems is addressed in the presence of actuator saturation and output‐disturbances. Focusing on output‐reference tracking, the control design is dealt with in the pseudo‐polynomials ring. A quite appealing L2 ‐tracking performance is shown to be achievable in the presence of arbitrary inputs i.e. the output reference and the output disturbance. The performance is formulated in terms of a well defined output‐reference mismatch error (ORME), depending on the inputs’ rate and their compatibility with the actuator saturation constraint. 相似文献
20.
本文针对一类具有执行器故障的多输入多输出（Multi-input multi-output,MIMO）不确定连续仿射非线性系统,提出了一种最优自适应输出跟踪控制方案.设计了保证系统稳定性的不确定项估计神经网络权值调整算法,仅采用评价网络即可同时获得无限时域代价函数和满足哈密顿-雅可比-贝尔曼（Hamilton-Jacobi-Bellman,HJB）方程的最优控制输入.考虑执行器卡死和部分失效故障,设计最优自适应补偿控制律,所设计的控制律可以实现对参考输出的一致最终有界跟踪.飞行器控制仿真和对比验证表明了本文方法的有效性和优越性. 相似文献