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针对线性常时滞系统可能发生的执行器故障,提出了一种基于轨迹跟踪的主动容错控制方法.设计目标是通过设计容错控制率及故障观测器使故障系统状态在故障时也能够有效地跟踪参考模型状态.容错控制率的设计是为了补偿可能发生的执行器故障,比例—积分观测器则用于获取设计中需要的故障信息.在设计中,将状态估计误差、状态跟踪误差、故障估计误差及输出估计误差的动态方程组成广义系统,并通过Lypapunov-Krasovskii定理将该广义系统稳定性问题转化为线性矩阵不等式(LMI)的求解问题,进而方便地求解满足稳定性条件的观测器及控制率的增益矩阵.最后,在仿真中针对同一实例通过与经典方法的比较,证明了所提方法的有效性.
Aiming at the actuator failure that may occur in a linear time-delay system, an active fault-tolerant control method based on trajectory tracking is proposed. The design objective is to design a fault-tolerant control rate and fault observer so that the fault system state can be effectively tracked in the event of a fault Reference model state. Fault-tolerant control rate is designed to compensate for the possible actuator failure, and the proportional-integral observer is used to obtain the required fault information in the design.In the design, the state estimation error, state tracking error, fault estimation Error and output estimation error. The Lypapunov-Krasovskii theorem transforms the stability of the generalized system into the solution of the linear matrix inequality (LMI), and then the observer and the control which satisfy the stability condition are easily solved Rate gain matrix.Finally, compared with the classical method in the simulation for the same instance, the effectiveness of the proposed method is proved.