基于观测器的广义系统H_∞可靠性控制器

利用广义系统的传感器故障模型,研究广义系统H∞可靠性控制器的设计问题·首先,建立了广义系统传感器故障的一般模型,在此模型的基础上设计基于观测器的控制器·其次,定义了广义系统的H∞可靠性控制器·接着,用带广义约束的广义代数Riccati不等式(GARI),给出传感器正常及出现部分故障时,所设计的控制器使得闭环广义系统容许且传递函数H∞范数有界的充分条件,即存在H∞可靠性控制器的充分条件·同时,还通过对广义系统的受限等价变换,去掉了广义约束,简化了带广义约束的GARI·进而可以通过解简化后的GARI来设计H∞可靠性控制器·最后,给出一个数值例子来演示设计过程并说明此方法的有效性·

广义系统H_∞可靠性控制

通过对更一般形式的执行器和传感器故障模型分析,研究了广义系统基于观测器的H∞可靠性控制器设计问题.利用带有约束的广义代数Riccati不等式(GARI),给出执行器故障情况下,广义系统H∞可靠性控制器存在的充要条件和设计方法,以及传感器故障情况下,广义系统H∞可靠性控制器存在的充分条件和设计方法.所设计的H∞可靠性控制器使得闭环广义系统容许且传递函数的H∞范数有界.同时,还将带广义约束的GARI转化成了线性矩阵不等式(LMI),进而简化了广义系统H∞可靠性控制器设计方法.

H_∞ Robust Fault-Tolerant Controller Design for an Autonomous Underwater Vehicle’s Navigation Control System

In order to improve the security and reliability for autonomous underwater vehicle （AUV） navigation, an H∞ robust fault-tolerant controller was designed after analyzing variations in state-feedback gain Operating conditions and the design method were then analyzed so that the control problem could be expressed as a mathematical optimization problem. This permitted the use of linear matrix inequalities （LMI） to solve for the Hv controller for the system. When considering different actuator failures, these conditions were then also mathematically expressed, allowing the H∞ robust controller to solve for these events and thus be fault-tolerant. Finally, simulation results showed that the H∞ robust fault-tolerant controller could provide precise AUV navigation control with strong robustness.