对轮式移动机器人(Wheeled Mobile Robot,WMR)发生执行器故障和输入饱和时容错控制问题进行研究,设计了一种自适应容错控制器(Adaptive FaultTolerant Controller,AFTC),可在故障信息未知的情况下解决上述问题。首先,设计了线性扩张观测...对轮式移动机器人(Wheeled Mobile Robot,WMR)发生执行器故障和输入饱和时容错控制问题进行研究,设计了一种自适应容错控制器(Adaptive FaultTolerant Controller,AFTC),可在故障信息未知的情况下解决上述问题。首先,设计了线性扩张观测器(Linear Extended State Observer,LESO)对偏置故障和干扰进行在线估计;然后,基于积分滑模设计了一种自适应控制律来补偿部分失效控制,并结合指数和变速趋近律来削弱滑模抖振;最后,设计了一种饱和辅助系统,利用其辅助变量对自适应控制律在线调整,使控制量在限幅范围内。利用李雅普诺夫稳定性理论,证明了在执行器故障和输入饱和的情况下,WMR的前进速度和方位角可以渐近地跟踪参考轨迹,并通过对比数值仿真验证了所设计的容错控制策略的有效性。展开更多
The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet d...The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.展开更多
文摘对轮式移动机器人(Wheeled Mobile Robot,WMR)发生执行器故障和输入饱和时容错控制问题进行研究,设计了一种自适应容错控制器(Adaptive FaultTolerant Controller,AFTC),可在故障信息未知的情况下解决上述问题。首先,设计了线性扩张观测器(Linear Extended State Observer,LESO)对偏置故障和干扰进行在线估计;然后,基于积分滑模设计了一种自适应控制律来补偿部分失效控制,并结合指数和变速趋近律来削弱滑模抖振;最后,设计了一种饱和辅助系统,利用其辅助变量对自适应控制律在线调整,使控制量在限幅范围内。利用李雅普诺夫稳定性理论,证明了在执行器故障和输入饱和的情况下,WMR的前进速度和方位角可以渐近地跟踪参考轨迹,并通过对比数值仿真验证了所设计的容错控制策略的有效性。
基金supported by National Outstanding Youth Foundation (No. 60525303)National Natural Science Foundation of China(No. 60704009)+1 种基金Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)the Doctor Fund of YanShan University (No. B203)
文摘The problem of guaranteed cost active fault-tolerant controller （AFTC） design for networked control systems （NCSs） with both packet dropout and transmission delay is studied in this paper. Considering the packet dropout and transmission delay, a piecewise constant controller is adopted. With a guaranteed cost function, optimal controllers whose number is equal to the number of actuators are designed, and the design process is formulated as a convex optimal problem that can be solved by existing software. The control strategy is proposed as follows： when actuator failures appear, the fault detection and isolation unit sends out the information to the controller choosing strategy, and then the optimal stabilizing controller with the smallest guaranteed cost value is chosen. Two illustrative examples are given to demonstrate the effectiveness of the proposed approach. By comparing with the existing methods, it can be seen that our method has a better performance.
