从LQR理论设计容错MIMO系统的方法

DESIGN OF FAULT-TOLERANT MIMO SYSTEM FROM LQR THEORY

本文提出了从LQR理论设计稳定容错MIMO控制系统的新方法,证明了通过适当选取权矩阵Q或R,可以构造出在稳定性意义上对执行器或传感器的失效具有容错性能的状态反馈系统,并给出了Q、R的选取方法。

In this paper a new design procedure is proposed. This procedure can lead to a stable fault-tolerant MIMO system from LQR theory. It is shown that, in the sense of system stability, a state feedback MIMO system capable of tolerating either the actuator or the sensor failure or even both can grow out of modification of the quadratic weights in the LQ cost function. Such a modification procedure is given for the design of a stable fault-tolerant MIMO system.