基于状态多时延模型的NCS鲁棒H_∞容错控制

Robust H_∞ Fault-Tolerant Control for NCS Based on Model with Multiple Successive Delays in State

针对一类具有时变时延和丢包的网络化控制系统,同时考虑模型参数不确定性和外界扰动的影响,基于一种状态多时延模型,以时滞依赖的方法,推证出了确保闭环系统在执行器或传感器发生失效故障时具有鲁棒H∞完整性的判据,并以求解线性或非线性矩阵不等式的方式,给出了鲁棒H∞容错控制器的设计方法。由于模型中考虑了时延下界,且证明过程未进行模型转换和交叉项放大处理,其结果具有较少保守性。最后以一仿真示例验证了所述方法的有效性。

The problem of robust guaranteed cost fault-tolerant control for a class of networked control system with time-varying delay and packet dropout was investigated.Both parameter uncertainties and external disturbance were addressed.Based on the model with multiple successive delays in the state,a stability criterion for the closed-loop system with robust integrity against actuator or sensor failures was given in terms of the time-delay-dependent approach.Then a method of the robust fault-tolerant controller design was given by solving a linear or nonlinear matrix inequality.The lower bound of the time-delay was introduced in the model,moreover the model transformation was not used and the bounding techniques on some cross terms were not involved in the process of certification.A less conservative result was obtained.Finally,a numerical example was given to illustrate the effectiveness of the proposed method.