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针对一类具有方向未知的不确定增益函数和未知执行器故障的不确定非线性系统,将Nussbaum函数增益与自适应输出反馈设计相结合,提出一种自适应鲁棒非线性容错控制方案。本方案无需精确获得执行器故障信息,并通过引入控制参数在线自适应调整技术,使得控制器对参数、干扰以及故障变化具有很强的鲁棒性,采用Nussbaum增益方法放松了对高频增益符号已知的假设,利用鲁棒项抵补偿自适应逼近误差和未知外界干扰的影响,通过李雅普诺夫方法从理论上严格证明了整个闭环系统信号的有界性和渐进的输出跟踪。仿真结果验证了该方法的有效性。
Aiming at a class of uncertain nonlinear systems with uncertainties of unknown gain and unknown actuator failures, an adaptive robust nonlinear fault-tolerant control scheme is proposed by combining Nussbaum gain with adaptive output feedback design. This scheme does not need to obtain the actuator fault information accurately. By introducing the online adaptive adjustment technology of control parameters, the controller is robust to parameters, disturbances and fault changes. Nussbaum gain method is used to relax the high-frequency gain symbol Known hypotheses, the Robust term is used to offset the effects of adaptive approximation errors and unknown external disturbances. The bounds and the gradual output tracking of the closed-loop system signals are theoretically proved by Lyapunov method. Simulation results verify the effectiveness of this method.