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针对一类状态不完全可测的不确定非线性系统,研究了带有执行器故障的容错控制问题。采用T-S模型对非线性系统进行模糊建模,利用并行分布补偿(PDC)算法设计了状态观测器和基于状态观测器的容错控制,给出了保证该模糊容错控制系统稳定的充分条件。根据李雅普诺夫稳定性理论和线性矩阵不等式(LMI),证明了所提出的模糊容错控制方法不但使得模糊控制系统渐近稳定,而且能够取得H∞性能指标。计算机仿真结果进一步验证了所提出方法的正确性。
For a class of uncertain nonlinear systems with incompletely measurable states, fault-tolerant control problems with actuator failures are studied. The nonlinear model is modeled by T-S model. The state observer and fault observer-based fault tolerant control are designed by using parallel distributed compensation (PDC) algorithm. The sufficient conditions for ensuring the stability of the fuzzy fault tolerant control system are given. According to Lyapunov stability theory and linear matrix inequality (LMI), it is proved that the proposed fuzzy fault-tolerant control method not only makes the fuzzy control system asymptotically stable, but also achieves the H∞ performance index. Computer simulation results further verify the correctness of the proposed method.