多输入多输出最小相位系统的执行器故障自适应容错控制

Adaptive fault-tolerant control for multi-input-multi-output minimum-phase systems with actuator failures

针对一类具有执行器卡死或/和变执行器故障的多输入多输出(MIMO)非线性最小相位系统提出了自适应容错跟踪控制方案.结合系统特征对系统执行器进行分类,用神经网络逼近执行器未知故障函数,采用模型参考自适应容错控制方法设计控制律.所设计的控制律不仅保证闭环系统稳定,而且跟踪误差一致最终有界.仿真结果表明了所提出方法的有效性.

An adaptive fault-tolerant tracking-control scheme is proposed for a class of multi-input multi-output （MIMO） minimum-phase systems with actuators lock-in-space or/and variant actuator failures. The actuators are classified according to the characteristics of the systems; and neural networks are used to approximate unknown failure-functions of actuators. The model-reference-adaptive fault-tolerant control method is used to design the control law. This control law guarantees the closed-loop systems to be stable and the tracking-errors to be uniformly ultimately bounded. Simulation results show the effectiveness of the proposed method.