【作者】 齐珂；

【导师】 佟绍成；

【作者基本信息】 辽宁工学院 ， 控制理论与控制工程， 2007， 硕士

【摘要】 本文以模糊逻辑系统为工具,把模糊逻辑系统、自适应控制、滑模控制、H∞控制等控制技术结合起来,研究了一类不确定非线性单输入单输出(SISO)及多输入多输出系统(MIMO)的容错控制器的设计。并基于李亚普诺夫函数方法证明了闭环系统的稳定性以及跟踪误差的收敛性。其主要内容如下:1.针对一类含有执行器故障的单输入单输出(SISO)不确定非线性系统,把模糊逻辑系统和滑模控制相结合,当发生故障时,通过改变控制器结构,设计出直接自适应模糊容错控制器和间接自适应模糊容错控制器两种控制方案。其中利用了模糊逻辑系统的全局逼近性质,采用了滑模平面来集中在线误差和误差变化率的信息,并基于李亚普诺夫函数方法证明了闭环系统的稳定性以及跟踪误差的收敛性。仿真验证了控制方法的有效性。2.针对故障函数完全未知的情况下,提出一种基于观测器原理的模糊自适应容错控制方法。这样,可以通过调整观测器参数,根据状态观测的效果来估计控制的效果。这里并不是估计故障函数的上界,而是根据观测误差来实时求解故障向量,得到具有H∞跟踪性能的模糊自适应容错控制器。并且证明了由具有H∞跟踪性能的观测器参数构成的控制器,可以保证闭环系统稳定性跟踪误差的收敛性。仿真验证了控制方法的有效性。3.针对多输入多输出(MIMO)系统,将单输入单输出系统的成果扩展到多输入多输出非线性系统,设计出两种容错控制方案,一种是把滑模控制、模糊逻辑系统和自适应相结合给出了状态反馈模糊滑模容错控制方法,另一种是把反馈线性化、模糊逻辑系统和H∞控制相结合,给出了状态反馈模糊容错控制方法。并基于李亚普诺夫函数方法证明了闭环系统的稳定性以及跟踪误差的收敛性。仿真验证了控制方法的有效性。更多还原

【Abstract】 In this dissertation, fuzzy logic systems is used as a tool, combined fuzzy logic systems, sliding mode control, adaptive control, H∞control, we make a study of designing fuzzy adaptive fault-tolerance control architecture for some kinds of uncertain systems. Global asymptotic stability is established in the Lyapunov sense, with the tracking errors converging to a neighborhood of zero. The simulation results verify the effectiveness of proposed control algorithm.This dissertation’s main contributions as follows:1. Direct and indirect fuzzy adaptive fault-tolerance control architecture is proposed for a class of SISO nonlinear dynamic systems which concludes actuators fault. The architecture employs fuzzy logic systems to approximate nonlinear unknown function which concludes fault function, uses fuzzy sliding controller to compensate for the fuzzy approximation error, through altering the structure of controller compensate for the influence due to actuators fault. Global asymptotic stability is established in the Lyapunov sense, with the tracking errors converging to a neighborhood of zero. The simulation results verify the effectiveness of proposed control algorithm.2. The observer-based adaptive fuzzy fault-tolerance controller is developed for a class of SISO uncertain nonlinear systems which concludes actuators fault that is unknown. The controller has H∞tracking performance. It is proved that the proposed control algorithm guarantees the system stability and maintains a good tracking performance as well. The simulation results verify the effectiveness of proposed control algorithm.3. On the basis of study of SISO control plant, two kinds fuzzy adaptive fault-tolerance control schemes are proposed for MIMO uncertain nonlinear systems. One is adaptive sliding fault-tolerance control with full state which concludes fuzzy logic systems, sliding mode control, adaptive control; another is fuzzy control with full state which concludes feedback linearization, fuzzy logic systems, H∞control. Global asymptotic stability is established in the Lyapunov sense, with the tracking errors converging to a neighborhoodof zero. The simulation results verify the effectiveness of proposed control algorithm.更多还原