| 基于降阶卡尔曼滤波器的水下机器人滑模容错控制 |
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| 引用本文： | 袁芳 朱大奇,叶银忠.基于降阶卡尔曼滤波器的水下机器人滑模容错控制[J].控制与决策,2011,26(7):1031-1035. |
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| 作者姓名： | 袁芳 朱大奇 叶银忠 |
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| 作者单位： | 1. 上海海事大学水下机器人与智能系统实验室,上海,201306
2. 上海应用技术学院,上海,201418 |
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| 基金项目： | 国家自然科学基金项目(51075257); 上海市教委科研创新项目(10ZZ97); 上海海事大学校基金项目(20110010,20110032) |
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| 摘 要： | 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.
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| 关 键 词： | 水下机器人 降阶卡尔曼滤波器 故障估计 容错控制 |
| 收稿时间： | 2010/3/19 0:00:00 |
| 修稿时间： | 2010/12/22 0:00:00 |
Sliding-mode fault-tolerant control method of underwater vehicle based on reduced-order Kalman filter |
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| YUAN Fang,ZHU Da-qi,YE Yin-zhong.Sliding-mode fault-tolerant control method of underwater vehicle based on reduced-order Kalman filter[J].Control and Decision,2011,26(7):1031-1035. |
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| Authors: | YUAN Fang ZHU Da-qi YE Yin-zhong |
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| Affiliation: | YUAN Fang~1,ZHU Da-qi~1,YE Yin-zhong~2 (1.Laboratory of Underwater Vehicles and Intelligent Systems,Shanghai Maritime University,Shanghai 201306,China,2.Shanghai Institute of Technology,Shanghai 201418,China. |
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| Abstract: | A fault estimation and sliding-mode fault-tolerant control method based on the reduced-order Kalman filter is proposed to deal with the time-varying nonlinear faults of the underwater vehicle actuators.Firstly,states of the underwater vehicle subsystem decoupled from the faults are estimated by the reduced-order Kalman filter,and states of another subsystem affected by faults can be measured.Then the fault informations of the time-varying actuators can be obtained from two subsystems states.Finally,fault-to... |
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| Keywords: | underwater vehicles reduced-order Kalman filter fault estimation fault-tolerant control |
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