仿射非线性系统的可靠H^∞控制

Reliable H∞ Control for Affine Nonlinear Systems

研究了仿射非线性系统的可靠 H∞ 控制问题 .引入新的执行机构故障模型 ,它能同时描述执行机构正常、部分失效和完全失效三种情形 ,针对只有任意一个执行机构发生故障和指定执行机构集合中任意多个执行机构发生故障的情形 ,运用非线性 H∞控制理论中的 Hamilton- Jacobi不等式方法 ,分别设计了两种可靠 H∞ 控制器 ,给出了控制器存在的充分条件 .分析表明 ,提出的可靠H∞控制器能够使得闭环系统在正常状态和执行机构发生故障的情况下都能保持渐近稳定 。

The problem of reliable H∞ control for affine systems was addressed. First, normal state, partial failure and outage of actuator are simultaneously considered by introducing a new faulty actuator model. Then, two reliable H∞ controller are proposed for two cases: one is that there is only one faulty actuator in the set of all actuators and the other is that there are certain faulty actuators in a pre-specified subset of all actuators. The conditions for the existence of the reliable H∞ controllers were presented based on Hamilton-Jacobi inequality. The analysis shows that the resulting closed-loop control systems is asymptotically stable and has certain disturbance attenuation ability.