存在丢包的非线性网络控制系统闭环故障检测

Closed-loop Fault Detection for Nonlinear Networked Control Systems with Packet Loss

针对存在数据包丢失和非线性扰动的网络控制系统的闭环故障检测问题,考虑传感器-控制器链路的数据包丢失现象,通过伯努利随机过程将其转化为系统参数。设计基于观测器的故障检测滤波器,产生残差信号,将故障检测问题转化为H∞滤波问题。为了保证系统输出对给定信号的跟踪性能,提高故障检测系统和容错控制系统的性能,采用故障检测滤波器与鲁棒跟踪容错控制器一体化设计的算法,利用Lyapunov函数方法分析了系统的稳定性,通过线性矩阵不等式的形式给出了故障检测滤波器和容错控制器存在的充分条件。最后,通过HiMAT飞行器的仿真验证了所提方法能够快速、有效检测出系统故障,对给定的输入信号具有良好的跟踪性能。

The closed-loop fault detection problem is investigated for the networked control systems with packet loss and nonlinear disturbance.The packet loss phenomena in the link from the sensor to the controller are considered,they can be transformed as system parameters by Bernoulli stochastic process.The observer-based fault detection filter is designed to generate the residual signal.Then the problem of fault detection is converted into a problem of H_(∞)filtering.In order to guarantee the tracking performance of the output of the system on the given signals and to improve the performances of fault detection system and fault tolerant control system,the integrated design algorithm of fault detect filter and robust tracking fault tolerant controller is utilized.The stability of the system is analyzed by Lyapunov functional method.The sufficient conditions for the existence of fault detection filter and fault tolerant controller are given by linear matrix inequation.Finally,the simulation of HiMAT verifies that the proposed method can fast and effectively detect the system fault with super tracking performance of the given input signals.In order to ensure the output of the system can track the command signal and improve the performance of the system,the integrated design of fault detection and fault tolerant is proposed.The sufficient conditions to guarantee the existence of the filter and the controller are derived by the linear matrix inequalities.A numerical example of HiMAT is designed to validate the effectiveness of the proposed method.