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为了解决复杂非线性系统执行器故障问题,提高系统的安全性和可靠性,本文针对一类带有执行器故障的非线性系统,提出了一种H∞容错控制方法。在假设非线性项满足李普希茨条件的前提下,利用线性矩阵不等式方法,给出了有干扰和无干扰时控制器存在的充分条件。该条件不仅保证了系统在执行器故障和正常情况下均能达到渐近稳定,而且能满足一定的性能指标,对干扰具有很好的抑制作用。最后将该方法应用到了水下机器人航向控制系统中,仿真效果较好,说明所给方法是有效性。
In order to solve the actuator failure problem of complex nonlinear systems and improve the safety and reliability of the system, this paper presents a H∞ fault tolerant control method for a class of nonlinear systems with actuator failures. Under the assumption that the nonlinear terms satisfy the conditions of Lipschitz, the sufficient conditions for the existence of the controller with and without disturbance are given by using the method of linear matrix inequality. This condition not only ensures that the system can achieve asymptotic stability under actuator failure and normal conditions, but also can meet certain performance indexes and has a good inhibitory effect on the interference. Finally, the method is applied to the underwater vehicle heading control system, the simulation results are good, which shows that the given method is effective.