不确定线性系统的滑模容错控制

Robust fault-tolerant control based on sliding mode method for uncertain linear systems

研究有执行器故障的不确定线性系统的自适应滑模容错补偿控制问题。首先给出了执行器存在冗余情况下的降阶滑动模态存在的一个充分条件,以及滑模面的参数化表达方式。其次针对实际情况中很难获得故障信息和故障检测模块可能出现误报、漏报等情况,提出通过对故障信息的在线估计来更新滑模控制器的非线性单位矢量增益,维持滑动模态,使闭环系统渐近稳定。最后,通过仿真算例验证了所提方法的有效性。

This paper deals with the robust adaptive faulwtolerant compensation control problem for uncertain linear systems with actuator faults. A sufficient condition for the existence of reduce＆order sliding mode dynamics is derived in the case of actuator redundancy, and an explicit parametrization of the desired sliding surface is also given. Without the need for a fauh detec6on and isolation （FDI）, an adaptive sliding mode controller is developed based on the online estimation of an eventual fault to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults, exogenous disturbances and parameter uncertainties. The effectiveness of the proposed design method is illustrated via an example.