不确定NCS动态输出反馈鲁棒Η_∞保性能容错控制

Robust Η_∞-guaranteed Cost Fault-tolerant Control for Uncertain NCS Based on Dynamic Output Feedback

针对存在时延和丢包的网络化控制系统,同时考虑到参数不确定性和有限能量外部扰动的影响,采用动态输出反馈控制策略,研究了执行器发生失效故障时系统的鲁棒H∞保性能容错控制问题。通过构造一种包含三重积分项的Lyapunov-Krasovskii泛函,推证出了闭环系统对执行器失效故障具有鲁棒H∞保性能的时滞和时滞变化率相关的充分条件,并以求解LMIs的方式给出了控制器的设计方法。最后以一个仿真算例验证了所述方法的可行性和有效性。由于推证中未进行模型转换,时延分段处理的同时充分运用了各种时延信息,因此在减少结论保守性的前提下使容错满意度得以提高。

For a class of networked control system with delay and data-packet-dropout in consideration of both parame- ter uncertainties and external disturbance with limited energy, the problem of robust H∞ guaranteed cost fault-tolerant control for networked control system with actuator failures was discussed using dynamic output feedback control strate- gy. A type of Lyapunov Krasovakii functional was proposed which contains some triple-integral terms, and a delay-de- pendent robust H∞ guaranteed cost integrality sufficient condition against actuator failures was derived, meanwhile, the optimization design method of controller was given via solving several linear matrix inequalities. Finally, an example was used to illustrate the effectiveness and the feasibility of proposed approach. In the proof the model tranformation is not used and the informations of delay are fully used in piecewise processing, so the results possess less conservativeness.