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研究一类具有模型不确定性和外界干扰的非线性系统的执行器故障容错控制问题,其中控制输入是由一个带死区、饱和的非线性函数描述.针对执行器故障未知且在未知时间发生的特点,采用自适应滑模变结构技术跟踪控制,并设计基于故障补偿的容错控制算法以保证故障系统的稳定性.最后,通过一个实例来验证该方法的有效性.
The problem of actuator fault tolerant control for a class of nonlinear systems with model uncertainties and external disturbances is studied, in which the control input is described by a nonlinear function with dead zone and saturation. Aiming at the unknown actuator failure and unknown time , The adaptive sliding mode variable structure tracking control is adopted, and the fault-tolerant control algorithm based on fault compensation is designed to ensure the stability of the fault system.Finally, an example is given to verify the effectiveness of the proposed method.