摘要
针对具有执行器故障和未知初始跟踪条件的非仿射纯反馈系统,研究其预设性能有限时间容错控制问题。采用中值定理处理非仿射系统,考虑控制方向未知,用Nussbaum增益函数解决控制器设计问题。借助一种与系统初始条件无关的预设性能控制设计方法,在跟踪误差的初始状态未知时依然可设计预设性能控制器。采用传统的有限时间理论及容错控制理论,提出一个预设性能有限时间容错控制设计策略。该策略能够保证系统在未知初始跟踪条件和执行器故障情况下的暂态和稳态性能,以及系统中所有信号的有界性。仿真结果验证了所提策略的可行性。
For non-affine pure feedback system with actuator failure and unknown initial tracking condition,the problem of prescribed performance finite-time fault-tolerant control was studied.The mean value theorem was adopted to deal with non-affine system,the Nussbaum gain function was used to solve the controller design problem with unknown control direction.With the help of prescribed performance control design method which was independent of the system′s initial condition,the prescribed performance controller could still be designed when the initial state of the tracking error was unknown.Using traditional finite-time theory and fault-tolerant control theory,a prescribed performance finite-time fault-tolerant control design strategy was proposed.The strategy could guarantee the transient and steady-state performance of the system under unknown initial tracking condition and actuator failure,as well as boundness of all signals in the system.The simulation results verified the feasibility of the designed controller.
作者
丁磊
李小华
刘辉
DING Lei;LI Xiaohua;LIU Hui(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,Liaoning,China)
出处
《山东大学学报（工学版）》
CAS
CSCD
北大核心
2024年第5期81-92,共12页
Journal of Shandong University（Engineering Science）
基金
国家自然科学基金联合基金资助项目(U21A20483)
吉林大学汽车仿真与控制国家重点实验室开放基金资助项目(20210219)。
关键词
非仿射纯反馈
执行器故障
预设性能
有限时间控制
控制方向未知
non-affine pure feedback
actuator failure
prescribed performance
finite-time control
unknown control direction
