切换系统鲁棒保性能容错控制器设计与仿真

Design and Simulation of Robust Guaranteed Cost Fault-tolerant Controller for Uncertain Switched Systems

研究了鲁棒保性能容错控制器的设计与切换规则,系统矩阵含有范数有界不确定性且外部扰动不满足系统匹配条件。当执行器发生故障,系统变得不稳定时,通过多李亚普诺夫函数法和线性矩阵不等式技术得到了次优鲁棒保性能容错控制器和切换规则,使系统二次稳定且满足成本上界性能指标。利用求解凸优化问题得到了最优鲁棒保性能容错控制器。对直升机模型的仿真表明,在执行器正常工作与部分失效时,系统都能稳定工作。

The design of robust guaranteed fault-tolerant controllers and switching rules are proposed for a class of uncertain switched systems with external disturbances.It is assumed that all the systems matrices contain norm-bounded parameter uncertainties and external disturbance does not satisfy system matching condition.When the actuator failure causes the system to become unstable,the suboptimal robust fault-tolerant guaranteed controller and switching rules are obtained by using the multiple Laypunov function method and the linear matrix inequality technique,which makes the system quadratic stable and meets the performance index of cost upper bound.Next,the optimal robust fault-tolerant controller is obtained by solving convex optimization problems.Finally,the simulation of helicopter model shows that the system can work stably both when the actuator is working normally and when part of the actuator is failing.