摘要
基于一类由状态空间描述的非线性系统固有的结构级联特性,在飞行器发生卡死故障的情况下,设计了基本控制律加补偿控制律的控制器结构形式,补偿故障对系统性能造成的影响。提出了确保对参考模型精确跟踪的控制器结构和条件。控制器的基本控制律部分是利用系统的结构特性设计反步(backstepping)控制律,系统发生未知卡死故障时,利用实际对象和参考模型之间的误差,更新控制器的故障补偿部分。控制器同时保证了闭环系统的稳定性和参考模型状态跟踪误差渐近性。仿真结果表明了该控制律对给定参考模型跟踪的有效性。
An adaptive backstepping control formulation is presented that take advantage of the inherent dynamic cascade structure of the state-space description of a large class of nonlinear system. Conditions and controller structures for achieving plant-model state matching in the presence of actuator failures are derived. When the actuator happens unknown stuck failures, the resulting control system is implemented in a retrofit fashion, i.e. the baseline controller derived by backstepping technology is retained, and compensating control vector is implemented by using the state errors of nonlinear system model and linear reference model. Closed-loop stability and asymptotic state tracking are ensured. Simulation results show that desired system performance is achieved with the structured adaptive backstepping actuator failure fault- tolerant control design.
出处
《电光与控制》
北大核心
2010年第4期61-65,共5页
Electronics Optics & Control
