不确定非线性NCS鲁棒H_∞保性能容错设计

Design of robust H_∞ guaranteed cost and fault-tolerant for uncertain and nonlinear NCS

针对一类不确定非线性网络化控制系统,同时考虑时延、丢包及受外部有限能量扰动的影响,研究了执行器失效故障情形下系统的鲁棒H∞保性能容错控制问题.基于T-S模糊模型,通过构造适当的李雅普诺夫-克拉索夫斯基泛函,推证出了使系统具有鲁棒H∞保性能容错能力的时滞依赖充分条件,并以求解线性矩阵不等式的形式得到了控制器的优化设计方法.由于考虑了时延下界,证明中未进行模型转换,并借助适当积分不等式引入的自由权矩阵确保不放大或忽略积分项,使结果具有较少保守性.最后以仿真验证了所述方法的有效性和可行性.

Packed dropout and influenced of external disturbance with limited energy were considered in terms of a class of nonlinear networked control system （NNCS）, network-induced delay. The prob- lem of robust H∞ guaranteed fault-tolerant control for networked control system against actuator fail- ures was discussed. By constructing appreciate Lyapunov-Krasovskii function, delay-dependent suffi- cient condition of robust H~ guaranteed fault-tolerant was analyzed by T-S fuzzy model. The control gain could be obtained via optimization algorithm of solving several linear matrix inequalities. The lower bound of the time-delay was introduced in the function, so there was no model transformation to integral inequalities, and the free variables brought by integral inequalities were taken advantage to guarantee that there was no magnifying or ignoring. Then a less conservative result was obtained. Fi- nally, an example was used to illustrate the effectiveness and feasibility of the approach.