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基于状态观测器的不确定时滞系统$H_{\infty}$鲁棒容错控制

于海华1,田坤1,段广仁2   

  1. 1.黑龙江大学自动化系, 哈尔滨 150080; 2.哈尔滨工业大学,哈尔滨 150001
  • 出版日期:2014-10-25 发布日期:2015-02-04

于海华,田坤,段广仁. 基于状态观测器的不确定时滞系统$H_{\infty}$鲁棒容错控制[J]. 系统科学与数学, 2014, 34(10): 1221-1232.

YU Haihua,TIAN Kun,DUAN Guangren. ROBUST H 1 FAULT-TOLERANT CONTROL FOR UNCERTAIN TIME-DELAY SYSTEMS BASED ON STATE-OBSERVER[J]. Journal of Systems Science and Mathematical Sciences, 2014, 34(10): 1221-1232.

ROBUST H 1 FAULT-TOLERANT CONTROL FOR UNCERTAIN TIME-DELAY SYSTEMS BASED ON STATE-OBSERVER

YU Haihua1 , TIAN Kun1 , DUAN Guangren2   

  1. 1.Department of Automation, Heilongjiang University, Harbin 150080;  2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001
  • Online:2014-10-25 Published:2015-02-04

针对一类具有状态时滞的不确定线性系统, 详细阐述了该系统基于状态观测器的$H_{\infty}% $鲁棒容错控制问题. 当系统状态不可测时, 构造状态观测器, 并考虑状态观测器反馈回路传感器失效, 引入观测误差, 通过构造闭环增广系统的Lyapunov泛函, 设计出了有容错性能的状态观测器和基于该观测器 的状态反馈控制器, 使得闭环增广系统渐近稳定, 并满足$H_{\infty}$性能指标. 通过求解一个线性矩阵不等式就可同时得到观测器增益和控制器增益矩阵. 最后给出仿真算例, 验证了此方法的有效性.

This paper describes in detail the $H_{\infty}$ robust fault-tolerant control problem for a type of linear uncertain systems with state-delay based on state-observer. When states of the system are unmeasurable, a state-observer is constructed and the observation error is considered taking sensor failures in the state-observer feedback loop into account. Using the Lyapunov function method, the state-observer with fault-tolerant performance against sensor failures in observer feedback loop and the state feedback controller based on state-observer are designed such that the closed-loop system augmented with observation error is asymptotically stable and satisfy the $H_{\infty}$ performance index. By solving a linear matrix inequality the observer and controller gain matrices can be obtained simultaneously. Finally, a simulation example shows the effectiveness of the proposed method.

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