抵御执行器故障的H_∞可靠跟踪控制

H_∞ reliable tracking control against actuator failure

针对线性定常系统,考虑连续增益故障模型,研究了具有执行器故障的H_∞可靠跟踪控制问题。首先,设计一个跟踪控制器使得闭环系统保持渐近稳定,同时具有相应的H_∞性能指标。当执行器发生故障时,该系统在原状态反馈控制器作用下无法保持稳定。设计状态反馈可靠跟踪控制器,运用求解线性矩阵不等式(LMI)的方法,完成可靠跟踪控制器的设计。由此可靠跟踪控制器构成的闭环系统可使系统在发生执行器故障后仍保持渐近稳定,且满足相应的H_∞性能指标。最后,数值仿真验证了该可靠跟踪控制器的有效性和可行性。

Considering the linear time-invariable systems,with the continuous gain fault model,the problem of H_∞ reliable tracking control with actuator failures is studied.Firstly,the tracking controller is designed to make the closed-loop system asymptotically stable,at the same time,the H_∞ performance is satisfied.Once the actuator fails,the system can't remain stable under the action of the original state feedback controller.So,the linear matrix inequality is solved and the state feedback reliable tracking controller is redesigned.The state feedback reliable tracking controller is designed.Hence,the closed-loop system composed of the state feedback reliable tracking controller can keep asymptotically stable after the actuator failure,simultaneously,satisfying the H_∞ performance index.Finally,the numerical simulation is presented to verify the validity and feasibility of the reliable tracking controller.