基于观测器的非线性系统执行器死区故障的自适应跟踪控制

Adaptive tracking of nonlinear systems with actuator dead-zone fault based-on observer

研究了一类具有不对称执行器死区故障的非线性系统的跟踪控制问题。基于扩张观测器,提出了一种新的自适应跟踪控制方法。取消了系统所有状态完全可测的限制。在死区模型所有参数以及系统非线性不确定项上界均未知的情况下,所设计的自适应控制器可以很好地消除执行器死区故障的影响,保证跟踪误差有界。仿真结果表明该方法的有效性。

An adaptive tracking control problem is investigated for a class of nonlinear systems with nonsymmetric actuator dead-zone fault. Based on extended observers, a new adaptive tracking control method is proposed. The restriction that all states of the system can be fully measured is canceled. On conditions that the dead zone model parameters and the bound of the uncertain nonlinear term are all unknown, the proposed adaptive controller can eliminate the effect of actuator dead-zone faults well and ensure bounded-errors tracking. Finally, the results of simulation show the effectiveness of the proposed method.