摘要
针对一类满足Lipschitz条件的非线性系统,基于反馈线性化提出了一种主动容错控制方法,并将其应用到了某机器人系统中。仿真表明,在故障发生时,容错控制器不仅能够保持闭环系统的稳定性,而且能够有效地补偿故障对输出的影响,因此输出依然能够对参考输入具有较好的跟踪性能。
For a class of nonlinear systems which satisfy Lipschitz condition, an active fauh-tolerant control scheme was presented based on the feedback linearization and then applied to a robot system. The simulation demonstrates that, when the fault occurs the fauh-tolerant controller not only can maintain the stability of the closedloop system but also can compensate effectively the influence caused by the fault. So the output can still track the reference input well.
出处
《科学技术与工程》
2009年第10期2774-2777,共4页
Science Technology and Engineering
关键词
容错控制
故障诊断
反馈线性化
非线性
fault-tolerant control fault diagnosis feedback linearization nonIinear
