基于K滤波的自适应模糊Backstepping容错控制

针对一类不满足匹配条件的状态不可测非线性不确定故障系统，研究了一种自适应模糊输出反馈容错控制器的设计方法。设计中，利用模糊逻辑系统在线逼近系统的故障函数，使用K滤波技术，并结合Backstepping和模设计原理，建立了一种新的自适应模糊输出反馈容错控制方法。证明了所提出的自适应模糊容错控制方法能够保证闭环系统所有信号是半全局一致有界的，且跟踪误差收敛到原点的一个小邻域内。仿真结果验证了该方法的有效性。

Adaptive Fuzzy Backstepping Fault Tolerant Control Based on K-Filter

The adaptive fuzzy output feedback fault tolerant control method was developed for a class of nonlinear uncertain fault systems with state unmeasured and without satisfying the matching conditions. The fuzzy logic systems were used to approximate the nonlinear fault functions of system on line. Utilizing the K-Filter technique, and combining backstepping technique and modular design principle, an adaptive fuzzy output feedback fault tolerant control scheme was constructed. It was proved that the proposed adaptive fuzzy fault tolerant control approach guaranteeing all the closed-loop signals were semi-globally and uniformly bounded, and the tracking errors converge to a small residual set around the origin. A simulation was included to illustrate the effectiveness of the proposed approach.