一类非线性不确定系统未知执行器故障的自适应控制

Adaptive Compensation of Unknown Actuator Failures for Uncertain Systems

在系统运行过程中,执行器不可避免的会卡死,然而由于故障发生的时间及卡死值均未知,因此如何设计控制器在执行器卡死的状态下保持系统稳定变得非常困难.本文针对一类非线性不确定系统,通过将执行器卡死所带来的不确定性看成系统的有界扰动,提出一种新的控制方案,设计自适应控制器保持系统稳定的同时实现对参考信号的跟踪.与现有结果相比该控制器结构简单,设计方便.仿真结果进一步验证了自适应控制器的有效性.

Actuator stuck seems inevitable in practice especially in control systems.To address such problem,a new adaptive control scheme was proposed.The uncertainty caused by unknown failures is seen as the unknown disturbance which can be compensated by estimating its unknown upper bound.Compared to some other controllers,the proposed control scheme is simple in structure.The simulation studies confirmed the effectiveness of this adaptive control scheme.