基于NCS时延模型的鲁棒容错控制器

Design of Robust Fault-tolerant Controller Based on Delay Model for Networked Control Systems

研究了一类具有未知扰动和参数不确定性的网络化控制系统的鲁棒容错控制问题。针对NCS的时延和不同步对系统产生的影响,基于将时延的不确定性转换为系统状态方程系数矩阵不确定性的NCS模型,同时考虑系统参数不确定性和未知扰动对系统的影响,应用Lyapunov稳定性理论和LMI方法,采用状态反馈控制策略,推证出了保证闭环网络化控制系统在执行器或传感器发生失效故障时仍渐近稳定的充分条件,并通过求解线性矩阵不等式组方便地得到了容错控制器的设计方法,最后用仿真算例验证了此方法的可行性和有效性。

The problem of robust fault-tolerant control for networked control systems （NCS） with uncertain disturbance and uncertain parameter is discussed. The uncertainty of network-induced delays is converted to the uncertainty of the parameter matrix. And in order to eliminate the effect of the asynchronism, the states are transformed to the augmented states. Based on Lyapunov stability theory and liner matrix inequality （LMI）, the sufficient conditions for closed-loop networked control system with uncertain disturbance possessing robust integrity against sensor or actuator failures are given by adopting state feedback control law. The robust fault fault-tolerant controller is designed via solving several liner matrix inequalities. The numerical example shows the effectiveness and feasibility of the proposed method.