基于观测器的非线性系统鲁棒H_∞可靠控制

Robust H_∞ reliable control for nonlinear systems based on observer

针对非线性不确定系统,在执行器发生故障的情况下,研究了系统的鲁棒H_∞可靠控制器和系统状态观测器的设计.从Lyapunov稳定性和鲁棒H_∞可靠控制的定义出发,通过构建观测器型状态反馈的闭环控制系统,得到了鲁棒H_∞可靠控制器和状态观测器需要满足的不等式.利用相关引理,将不等式转化为等价的线性矩阵不等式,给出了系统的控制器和状态观测器的表达式.经仿真验证,所设计的基于观测器的非线性不确定系统的鲁棒H_∞可靠控制系统,在执行器失效时系统对允许范围内的结构不确定性具有一定的抗干扰和容错能力,检验了所提出方法的有效性和可行性.

Aimed at the nonlinear uncertain system,the design of robust H∞reliable controller and system state observer was investigated for the system with actuator failure.Starting from the Lyapunov stability the definition of robust H∞reliable control and by means of building closed-loop control system with observer-type state feedback,the inequalities satisfied necessarily by the robust H∞reliable controllers and state observers were obtained.By using relevant lemma,the inequalities were transformed into equivalent linear matrix inequalities,so that the expressions for the system controller and observer were given out.It was verified by system simulation that the observer-based robust H∞ reliable control system for nonlinear uncertain system would possess certain ability of anti-disturbance and fault tolerance within a permissible range of structural uncertainty,examing in the same time the validity and feasibility of the method presented.