非线性系统的模糊Backstepping自适应容错控制

Fuzzy adaptive Backstepping fault-tolerant control of nonlinear systems

针对一类受扰动的且伴有执行器故障的严格反馈不确定非线性系统,提出了一种模糊自适应容错控制方法。当故障发生时,改变控制器结构使其融合故障。设计中,模糊逻辑系统用作在线逼近系统的未知动态和未知的故障函数,结合模糊自适应控制与backstepping技术,给出了模糊容错控制器方法,并基于Lyapunov定理严格证明了所提出的鲁棒模糊自适应控制方法能够保证整个闭环系统的稳定,最后通过仿真实例验证了该方法的有效性。所提出的模糊自适应容错方法扩展了经典容错控制方法的结果。

An adaptive fuzzy fault tolerant control approach is developed for a class of perturbed and strict feedback nonlinear systems with actuators faults. Based on the idea of a corrective control law, which is activated in the presence of a fault, fuzzy logic systems are used to learn the unknown dynamics and the unknown fault functions on-line and provide the fault tolerant control law. Combining the fuzzy adaptive control and the back stepping design techniques, a robust fuzzy adaptive fault control approach is developed and the closed-loop stability of the proposed fault tolerant control scheme is rigorously proved using Lyapunov theory and illustrated based on a simulation example. Therefore, the proposed method has extended the classical methods, and has more general significance than the existing ones.