视故障为结构不确定项的鲁棒可靠跟踪控制器设计

针对含执行机构故障的凸面体不确定系统, 本文基于二次型分离算子给出了一种鲁棒可靠跟踪控制器的设计方法. 利用不确定系统鲁棒镇定时的拓扑分离特性, 采用无损S-procedure获得二次型分离算子, 对执行机构故障和系统描述矩阵进行解耦, 在此基础上将故障模型的结构信息引入到控制器设计中, 从而减少系统设计的保守性. 并将可靠控制器设计转化为线性矩阵不等式表述的凸优化问题, 利用已有的工具包对其快速求解. 最后给出某飞行器纵向运动控制的设计实例, 仿真结果验证了设计方法的有效性和优越性.

Robust reliable tracking controller design when the fault is viewed as a structural uncertainty

Based on the quadratic separator, the design of a robust reliable tracking controller is investigated for a class of polytopic systems with actuator failures. By making use of the robust stabilization characterized by topological separation of uncertain systems, a quadratic separator is designed to separate the matrix standing for fault model from system parameters via the lossless S-procedure. The structure information of the faulty actuator model is introduced into the reliable controller design on the basis of the separation, reducing the design conservativeness. In addition, the condition for the existence of a robust reliable tracking controller can be reduced to a linear matrix inequality (LMI) which is easy to be solved numerically. Finally a flight example is given to demonstrate the effectiveness and superiority of the robust reliable tracking controller.