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针对一类受扰非线性动态系统的执行器故障估计问题,提出一种未知输入观测器来实现故障估计。首先,通过坐标变换将原系统转化为合适的形式;其次,采用线性矩阵不等式与Lyapunov泛函分别设计H∞输出反馈控制器和未知输入观测器,在此基础上实现对系统中执行器故障的渐近估计;最后,通过机械臂系统仿真分析并验证了所提方法的有效性。与已有方法相比,所提方法不要求故障可导,也不要求故障或干扰上界已知,因此易于在工程实际中实现对非线性系统执行器故障的估计。
Aiming at the problem of actuator fault estimation for a class of disturbed nonlinear dynamic systems, an unknown input observer is proposed to realize the fault estimation. Firstly, the original system is transformed into a suitable form by coordinate transformation. Secondly, H∞ output feedback controller and unknown input observer are designed by using linear matrix inequality and Lyapunov functional. Based on this, Asymptotic estimation. Finally, the effectiveness of the proposed method is verified and verified by the robot system simulation. Compared with the existing methods, the proposed method does not require fault guidance and does not require fault or disturbance upper bound to be known, so it is easy to implement the estimation of nonlinear system actuator fault in engineering practice.