执行器饱和NCS的满意容错与通信的协同设计

Co-design between satisfactory fault-tolerant control for NCS with actuator saturation and communication

基于离散事件触发通信机制(DETCS),研究了非均匀传输周期下具有执行器饱和的网络化控制系统(NCS)的满意容错与网络通信间的协同设计问题.通过将保持器端数据的非均匀更新周期对系统性能的影响转化到对系统时滞的影响中,建立了一个具有执行器饱和的闭环故障NCS模型,该模型将建模中的多个因素集成在一个框架下,如执行器饱和约束、执行器失效、事件触发条件、非均匀传输周期、传输时延、计算时延和控制器信息等.基于不连续的Lyapunov-Krasovskii函数、互反凸技术、线性凸组合技术及琴生不等式,为具有多种性能的闭环故障系统提出了网络通信与满意容错间的协同设计方法.借助仿真算例,验证了提出的协同设计方法的有效性,此外还对不同性能指标和DETCS中的触发参数间的相容性进行了分析.

Based on discrete event-triggered communication scheme（DETCS）,the problem of co-design method between satisfactory fault-tolerant control and network communication was investigated for networked control system（NCS）with actuator saturation.Through transferring the impact which was nonuniform update period to system performance in the holder end into the impact for system time delay,the model of closed-loop failure NCS was established,including many factors,such as actuator saturation restrain,actuator failure,event-triggered condition,nonuniform transmission period,timedelay,computing time-delay and control law.Based on a discontinuous Lyapunov-Krasovskii function,the reciprocally convex technology,the linear convex combination,Jensen inequality and Wirtinger′s inequality,three theorems were proposed for three kinds of closed-loop failure system with different performances,and these theorems presented the related co-design method between fault-tolerant control and network communication.The simulation example verified the effectiveness of the proposed co-design method.Furthermore,the compatibility analysis among different performance indexes and event-triggered parameters of DETCS was studied,and several kinds of compromise balance principle were presented.