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针对存在网络诱导时延和数据丢失的非线性网络化控制系统,研究执行器发生随机故障时的非脆弱H_∞容错控制问题。所考虑的系统参数中含有时变不确定性,执行器故障的发生概率满足Bernoulli分布。首先利用Lyapunov稳定性理论和线性矩阵不等式分析方法,得到了H_∞容错控制器存在的充分条件,然后通过求解线性矩阵不等式得到非脆弱H_∞容错控制器增益的参数表达式。最后通过数值仿真例子验证了控制器设计方法的有效性。
Aiming at the nonlinear networked control system with network induced delay and data loss, the non-fragile H_∞ fault-tolerant control problem in the case of random failures of actuators is studied. The considered system parameters contain time-varying uncertainties, and the probability of actuator failure satisfies the Bernoulli distribution. Firstly, sufficient conditions for the existence of H ∞ fault-tolerant controllers are obtained by Lyapunov stability theory and linear matrix inequality analysis. Then, the parameter expressions of gain of non-fragile H_∞ fault-tolerant controllers are obtained by solving linear matrix inequalities. Finally, numerical simulation examples verify the effectiveness of the controller design method.