连续时间网络控制系统的鲁棒故障检测

Robust Fault Detection for Continuous-time Networked Control System

针对一类具有网络诱导时延、数据丢包以及通信限制的连续时间网络控制系统,研究鲁棒故障检测滤波器的设计问题,提出一种新的故障检测方法。考虑传感器到控制器的网络诱导时延和数据丢包,以及控制器到执行器的通信限制,利用基于观测器的故障检测滤波器生成残差信号,建立连续时间网络控制系统的故障检测模型,通过定义合适的Lyapunov泛函并利用凸分析方法,给出故障检测滤波器设计准则。理论分析结果表明,故障检测滤波器设计准则具有较低的保守性,故障检测滤波器能同时保证残差系统对故障的灵敏性和对系统外部扰动输入的鲁棒性。数值算例验证了该检测方法的可行性。

This paper is concerned with fault detection filter design for continuous-time Networked Control System（NCS） under consideration of network-induced delays,packet dropouts and communication constrains.The network-induced delays and packet dropouts in the sensor-to-controller channel,and communication constrains in the controller-to-actuator channel are considered simultaneously,the observer-based fault detection filter is adopted to generate residual signal,then the fault detection model for continuous-time NCS is established.By defining an appropriate Lyapunov functional and adopting the convex analysis method,the observer-based fault detection filter design criteria is established.The theoretical analysis illustrates the less conservatism of the proposed fault detection filter design criteria.The designed fault detection filter can guarantee the sensitivity of the residual signal to faults,and the robustness of the considered systems to disturbances.The simulation results illustrate the effectiveness of the proposed detection method.