【摘要】 针对以T-S模糊模型表达的汽车侧向动力学系统,提出一类新的基于广义观测器的主动容错控制策略,以维持车辆在受到传感器故障及外界扰动下的稳定性.从李雅普诺夫方程推导出的线性矩阵不等式条件,得出具有H∞扰动减弱性能的鲁棒广义观测器的增益.基于此观测器,一种容错控制策略是设计故障诊断机构,以此决策调度系统的输出反馈控制器组,进而隔离故障和选择合适控制律镇定系统.另一策略是直接利用不受故障影响的系统状态估测值,建立更为简洁的鲁棒状态反馈控制.通过实例仿真,结果表明在上述策略下汽车状态稳定性明显提升,而且系统输出可以得到补偿修正,证明了所提容错控制策略的有效性.更多还原

【Abstract】 Considering the vehicle lateral dynamics expressed in Takagi-Sugeno( T-S) fuzzy system,novel active Fault-Tolerant Control( FTC) strategies based on the descriptor observer are proposed,in order to maintain the stability of the vehicle system with presence of sensor faults and external disturbance. Via solving the Linear Matrix Inequalities( LMIs) derived from the Lyapunov function,the gains are obtained for a robust descriptor observer with H∞disturbance attenuation performance. Based on this observer,one FTC strategy is to design a Fault Detection and Diagnosis( FDD) block to make decisions for the control law reconfiguration and fault isolation,via switching between two output feedback controllers. Then a robust state feedback control approach using the vehicle state estimates is also investigated to make a simpler FTC strategy. Simulations show with the strategies above,the stability of the vehicle states is significantly improved and the system outputs can be corrected,which proves the effectiveness of the proposed FTC strategies.更多还原