非线性主动容错控制系统H_∞模糊控制器设计

H_∞ Fuzzy Controller Design for Nonlinear Active Fault Tolerant Control Systems

考虑到实际主动容错控制(FTC)系统中故障以及故障检测与隔离(FDI)决策出现的随机性,用两个Markov过程分别描述系统的随机故障以及FDI的决策行为。采用Takagi-Sugeno(T-S)模糊模型描述非线性主动容错控制系统,并基于并行分布补偿(PDC)方案以及线性矩阵不等式(LMI)优化技术,给出了使得闭环系统随机稳定且满足一个给定H∞干扰衰减水平的模糊容错控制器设计方法。此外,考虑了一个次优的H∞模糊容错控制设计问题。最后,倒车控制系统的仿真结果验证了所建议方法的有效性。

By considering the random natures of the failure events and the failure detection and isolation（FDI） decisions in real active fault tolerant control（FTC）systems, two Markov processes are introduced to describe the random failures and the FDI decision behavior separately. The Takagi-Sugeno（T-S） fuzzy model is employed to represent a nonlinear active FTC system. Based on the parallel distributed compensation（PDC） scheme and linear matrix inequality（LMI） optimization technique, an approach to the design of a fuzzy FTC law such that the closed-loop fuzzy system is stochastically stable and a given level of H∞ disturbance attenuation is satisfied, is provided. Moreover, a suboptimal H∞ FTC design problem is also addressed. Finally, truck-trailer simulation results show the effectiveness of the proposed method.