网络控制系统的鲁棒H_∞容错控制器设计

Robust H_∞ fault-tolerant controller design for networked control system

研究了一类网络控制系统(NCS)的鲁棒H∞容错控制器设计问题.基于一类包含网络时延和数据包丢失的网络控制系统模型,考虑了更实际、更一般的执行器部分失效情况.然后利用Lyapunov Krasovskii泛函方法,通过引入一个积分不等式,得到了此类系统的H∞鲁棒稳定性条件并且采用锥补线性化算法给出了此类系统的鲁棒H∞容错控制器的设计方法.最后,数例仿真结果表明,对于任意容许的不确定性以及执行器的故障,所设计的控制器能使系统鲁棒渐近稳定,且具有H∞范数界.

The problem of H∞ fault-tolerant controller design of networked control systems （ NCS ） has been studied. Based on a NCS model with the effects of delay and data packet dropout involved, a more practical and general case of actuator failures is considered. By introducing the integral inequality, the robust H∞ stability conditions are obtained based on Lyapunov Krsasovskii functional method, and the design method of robust H∞ fault-tolerant controller is also proposed by employing cone complementarity linearization algorithm. Finally, the numerical example and simulations have demonstrated that for any allowable uncertainty and actuator failure the proposed controller can make the system robustly asymptotically stable with H∞ norm bound.