执行器故障输出时滞双率采样系统的鲁棒迭代学习容错控制

Robust iterative learning fault-tolerant control for a dual-rate sampling system with actuator faults and output delay

为了提升一类具有执行器故障和输出端外部有界扰动的输出时滞双率采样系统的可靠性,该文提出了一种鲁棒迭代学习容错控制方法。通过提升技术将带有输出时滞的双率采样系统转化为形式上无时滞的慢速率采样的扩展状态空间模型;基于二维系统理论设计容错控制律,将迭代学习控制过程转化为等价二维Roesser故障模型;分析并优化了系统在时间和批次轴上的容错性能,同时以线性矩阵不等式形式给出系统满足这些性能的充分条件以及鲁棒容错控制器设计方法。最后,三层液位贮槽系统的液位控制仿真验证了所提方法的可行性和有效性。

In order to improve the reliability of a class of dual-rate sampling system with actuator faults,bounded external disturbance on the output side and output delay,a robust iterative learning fault tolerant control method is presented.Using the lifting technique,the dual-rate sampling system with output delay is transformed into an augmented state-space model in slow sampling rate without time-delay in form.Based on the two-dimensional(2D)system theory,a fault-tolerant control law is designed and the iterative learning control process is turned into an equivalent 2D Roesser fault model.The fault-tolerant performance along both time and trial directions is analysed and optimized.The sufficient conditions for the system to satisfy these performances and the design method of robust fault-tolerant controller are given in the form of linear matrix inequality(LMI)technique.The feasibility and validity of the designed method are certified by the liquid level control simulations of three-tank system.