A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adap...A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback. The considered faults are modeled as both loss of effectiveness and lock-in-place （stuck at some unknown place）. It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.展开更多
针对存在复合干扰和执行器故障的四旋翼飞行器姿态系统提出一种故障调节策略.首先给出了四旋翼飞行器的姿态模型和存在复合干扰情况下的姿态模型,并给出执行器的失效故障表达形式.针对姿态控制系统的复合干扰和执行器失效故障,分别给出...针对存在复合干扰和执行器故障的四旋翼飞行器姿态系统提出一种故障调节策略.首先给出了四旋翼飞行器的姿态模型和存在复合干扰情况下的姿态模型,并给出执行器的失效故障表达形式.针对姿态控制系统的复合干扰和执行器失效故障,分别给出一种复合干扰估计和局部故障诊断和辨识(fault diagnosis and identification,FDI)算法.复合干扰估计器由干扰估计误差驱动,并非直接与传统的状态跟踪或预测误差有关.针对执行器失效故障的局部FDI结构类似于模型参考自适应,基于复合干扰估计和局部FDI设计出四旋翼飞行器姿态系统backstepping容错控制器.仿真实验验证了文中所提容错控制策略的正确性和有效性.展开更多
The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actu...The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actuator faults that can be modeled by a scaling factor. The resulting control systems are reliable in that they provide guaranteed asymptotic stability and H∞ performance when some control component （actuator） faults occur. A numerical example is also given to illustrate the design procedure and their effectiveness. Furthermore, the optimal standard controller and the optimal reliable controller are compared to show the necessity of reliable control.展开更多
基金supported by the Funds for Creative Research Groups of China (No.60821063)the State Key Program of National Natural Science of China (No.60534010)+3 种基金the National 973 Program of China (No.2009CB320604)the Funds of National Science of China (No.60674021)the 111 Project (B08015)the Funds of PhD program of MOE,China (No.20060145019)
文摘A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback. The considered faults are modeled as both loss of effectiveness and lock-in-place （stuck at some unknown place）. It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.
文摘针对存在复合干扰和执行器故障的四旋翼飞行器姿态系统提出一种故障调节策略.首先给出了四旋翼飞行器的姿态模型和存在复合干扰情况下的姿态模型,并给出执行器的失效故障表达形式.针对姿态控制系统的复合干扰和执行器失效故障,分别给出一种复合干扰估计和局部故障诊断和辨识(fault diagnosis and identification,FDI)算法.复合干扰估计器由干扰估计误差驱动,并非直接与传统的状态跟踪或预测误差有关.针对执行器失效故障的局部FDI结构类似于模型参考自适应,基于复合干扰估计和局部FDI设计出四旋翼飞行器姿态系统backstepping容错控制器.仿真实验验证了文中所提容错控制策略的正确性和有效性.
基金This project was supported by the Education Foundation of liaoning province (ECL-202263357)
文摘The reliable design problem for linear systems is concerned with. A more practical model of actuator faults than outage is considered. An LMI approach of designing reliable controller is presented for the case of actuator faults that can be modeled by a scaling factor. The resulting control systems are reliable in that they provide guaranteed asymptotic stability and H∞ performance when some control component （actuator） faults occur. A numerical example is also given to illustrate the design procedure and their effectiveness. Furthermore, the optimal standard controller and the optimal reliable controller are compared to show the necessity of reliable control.
