【作者】 李志宇； 蔡俊伟； 胡寿松；

【Author】 Li Zhiyu1 Cai Junwei2 Hu Shousong3(1Flight Control Research Institute,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)(2The 28th Research Institute,China Electronics Technology Group Corporation,Nanjing 210007,China)(3College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

【机构】 南京航空航天大学飞行控制研究所； 中国电子科技集团公司第二十八研究所； 南京航空航天大学自动化学院；

【摘要】 研究了一类含有执行器故障的非线性系统的H∞模糊输出反馈容错控制问题.采用T-S模糊模型对非线性系统进行建模,用模糊观测器重构系统状态.针对设计过程中的双线性矩阵不等式问题,采用相似变换法将其转化为线性矩阵不等式(LMI)问题.利用Lyapunov稳定性理论和线性矩阵不等式方法,给出了H∞模糊输出反馈容错控制器存在的充分条件.通过求解由一组LMI所表示的凸优化问题可以得到次优H∞模糊反馈容错控制器.所设计的控制器可保证系统在故障时满足给定H∞性能约束下,使正常情况下的H∞性能最优.最后通过对小车倒立摆系统的仿真验证了该设计方法的有效性.更多还原

【Abstract】 The H∞ fuzzy output feedback fault-tolerant control problem is addressed for a class of nonlinear systems in the present of actuator failures.The Takagi-Sugeno fuzzy model is adopted for modeling the nonlinear system.The system states are estimated by a fuzzy observer.Similarity transformation method is used to convert a bilinear matrix inequality problem into a linear matrix inequality(LMI) problem.A sufficient condition for the existence of the H∞ fuzzy output feedback fault-tolerant controller is obtained via Lyapunov stability theory and LMI.A suboptimal H∞ fuzzy output feedback fault-tolerant controller is designed by solving a convex optimization problem which is expressed as a group of LMIs,which can minimize the H∞ performance in normal case with a prescribed H∞ performance in the actuator failure cases.Finally,numerical simulations on a cart-inverted pendulum system are given to illustrate the effectiveness of the proposed approach.更多还原