NCS的事件触发通讯机制与主被动混合鲁棒容错控制设计

Event-triggered communication mechanism of NCS and its active-passive design with hybrid robust fault-tolerant control

针对具有时变时延的不确定线性网络化控制系统,在离散事件触发通讯机制下,研究了执行器任意失效故障情形下的主被动混合鲁棒容错控制.首先建立基于离散事件触发通讯机制的闭环故障NCS模型,并基于H∞控制思想,设计了鲁棒故障检测观测器;其次通过离线设计的被动鲁棒容错控制器确保系统在已知故障发生时稳定,未知故障发生初期减缓系统性能下降速度;同时利用鲁棒故障检测观测器实时在线检测故障,并重构控制器补偿任意未知故障对系统的影响.最后通过仿真算例验证了文中方法的可行性.

Aimed at a networked control system with time-varying time-delay, uncertain linearity, an ac- tive-passive hybrid robust fault-tolerant control system （FTCS） with event-triggered communication mechanism is investigated for the case of arbitrary failure of actuator. First, a closed-loop failure model of NCS is established based on discrete event-triggered communication mechanism, and a robust fault diagno- sis observer is designed on the basis of H∞ control idea. Second, by means of off-line design of passive ro- bust fault-tolerant controller, the system stability is ensured when a known failure takes place and the de- cline rate of system performance is slowed down at the beginning of unknown failure. At the same time, by using the robust fault diagnosis observer, real-time online fault detection is made and the controller is reconfigurated to compensate the effect of arbitrary unknown fault on the system. Finally, a simulation example is used to justify the effectiveness and feasibility of the proposed approach.