一类仿射非线性系统的容错控制

Design of Fault-tolerant Controller for an Affine Non-linear System

提出了针对一类仿射非线性系统的容错控制器设计新方法,通过适当选取非线性系统Brunovsky标准型的加权矩阵,使Riccati型方程的解满足特定的条件,可以保证闭环系统在传感器失效时具有渐进稳定性。用实际算例和仿真结果验证了该方法的有效性。

A new design method of faulttolerant controller for an affine nonlinear system is presented. According to the method, a sufficient faulttolerant condition is derived based on a solution of the Riccati equation related to the Brunovsky linear model. Using the faulttolerant condition, a nonlinear state feedback controller is designed to be faulttolerant through iterating gradually the state\|weighted or controlweighted matrix in the Riccati equation. The faulttolerant controller can keep the nonlinear system in asymptotic stability when one or more sensors fail to work. The design method is proved to be very useful and effective with the illustrative examples and simulation results.