基于事件触发机制的NNCS混合非脆弱容错控制
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摘要
针对具有执行器故障和外界有限能量扰动的非线性网络化控制系统(NNCS),研究了离散事件触发通讯机制(DETCS)下的主—被动混合非脆弱容错控制器的设计问题。首先考虑了故障集,基于李亚普诺夫方法和状态反馈控制策略设计了被动非脆弱容错控制器,使得系统在发生已知故障类型时能够维持自身稳定,在发生未知故障初期减缓系统性能下降的速度。其次,基于H_∞理论设计的故障估计器在线实时检测系统故障,一旦获得未知故障信息,立即重构控制器进行补偿,确保系统渐近稳定并满足性能指标。最后,仿真算例验证了所提方法的正确性和有效性。
For nonlinear networked control system(NNCS) with actuator faults and external finite-energy disturbances, we present the design of a hybrid active-passive non-fragile fault-tolerant controller under discrete event-triggered communication scheme(DETCS). First, we consider the fault set and design a passive non-fragile fault-tolerant controller based on the Lyapunov method and the state feedback control strategy. The designed controller not only enables the NNCS to maintain its stability when the known fault types occurs, but also slows down the system performance degradation at the initial stages of unknown faults. Second, based on the theory, we design a fault estimator to detect system failure online. Once the information of an unknown fault is obtained, the controller is reconstructed immediately to ensure the system stability and to meet performance index. Finally, the correctness and effectiveness of the method are verified by a simulation example.
For nonlinear networked control system(NNCS) with actuator faults and external finite-energy disturbances, we present the design of a hybrid active-passive non-fragile fault-tolerant controller under discrete event-triggered communication scheme(DETCS). First, we consider the fault set and design a passive non-fragile fault-tolerant controller based on the Lyapunov method and the state feedback control strategy. The designed controller not only enables the NNCS to maintain its stability when the known fault types occurs, but also slows down the system performance degradation at the initial stages of unknown faults. Second, based on the theory, we design a fault estimator to detect system failure online. Once the information of an unknown fault is obtained, the controller is reconstructed immediately to ensure the system stability and to meet performance index. Finally, the correctness and effectiveness of the method are verified by a simulation example.
引文
[1] 肖会芹,何勇,吴敏,等.基于T-S模糊模型的采样数据网络控制系统H∞输出跟踪控制[J].自动化学报,2015,41(3):661-668.Xiao H Q,He Y,Wu M,et al.H∞Output tracking control for sampled-data networked control systems in T-S fuzzy model[J].Acta Automatica Sinica,2015,41(3):661-668.
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[6] 卢颖.不确定非线性系统的故障/扰动重构及容错控制[D].重庆:重庆大学,2016.Lu Y.Fault/Noise Reconstruction and fault-tolerant control of nonlinear uncertain systems[D].Chongqing:Chongqing University,2016.
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[9] 王君,姚晓婉,李炜.NNCS混合容错控制方法[J].控制与决策,2018(2):316-329.Wang J,Yao X W,Li W.Hybrid fault-tolerant control method research of NNCS[J].Control and Decision,2018(2):316-329.
[10] 肖会芹,何勇,吴敏,等.基于T-S模糊模型的网络控制系统非脆弱H∞跟踪控制[J].控制与决策,2015,30(1):110-116.Xiao H Q,He Y,Wu M,et al.Non-fragile H∞tracking control for networked control systems based on T-S fuzzy model[J].Control and Decision,2015,30(1):110-116.
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[12] 曹慧超,李炜.执行器饱和不确定NCS非脆弱鲁棒容错控制[J].控制与决策,2013,28(12):1874-1883.Cao H C,Li W.Non-fragile robust fault-tolerant control for uncertain NCS with actuator saturation[J].Control and Decision,2013,28(12):1874-1883.
[13] 杨光红,张志慧.基于区间观测器的动态系统故障诊断技术综述[J].控制与决策,2018,33(5):769-781.Yang G H,Zhang Z H.Review of interval observer based fault diagnosis techniques for dynamic systems[J].Control and Decision,2018,33(5):769-781.
[14] 王日俊,白越,曾志强,等.基于自适应观测器的四旋翼无人飞行器传感器故障诊断方法[J].传感技术学报,2018,31(8):1192-1200.Wang R J,Bai Y,Zeng Z Q,et al.Sensor fault diagnosis method for quadrotor aircraft based on adaptive observer[J].Chinese Journal of Sensors and Actuators,2018,31(8):1192-1200.
[15] Peng C,Yang T C.Event-triggered communication and H∞control co-design for networked control systems[J].Automatica,2013,49(5):1326-1332.
[16] Liu J,Yue D.Event-triggering in networked systems with probabilistic sensor and actuator faults[J].Information Sciences,2013,240(10):145-160.
[17] 王君,李淑真,李炜.基于事件触发机制的NCS主被动混合鲁棒H∞容错控制[J].信息与控制,2017,46(2):144-152.Wang J,Li S Z,Li W.Hybrid active-passive robust fault-tolerant control for a networked control system based on an event-triggered scheme[J].Information and Control,2017,46(2):144-152.
[18] Yang F,Zhang H,Wang Y.An enhanced input-delay approach to sampled-data stabilization of T-S fuzzy systems via mixed convex combination[J].Nonlinear Dynamics,2014,75(3):501-512.
[19] Yang F,Zhang H,Hui G,et al.Mode-independent fuzzy fault-tolerant variable sampling stabilization of nonlinear networked systems with both time-varying and random delays[J].Fuzzy Sets & Systems,2012,207(26):45-63.
[20] 邱爱兵,吉虹钢,顾菊平.非均匀采样数据系统时变故障估计与调节最优集成设计[J].自动化学报,2014,40(7):1493-1504.Qiu A B,Ji H G,Gu J P.Optimal integrated design of time-varying fault estimation and accommodation for nonuniformly sampled data systems[J].Acta Automatica Sinica,2014,40(7):1493-1504.
[2] Stefanovski J.Fault tolerant control of descriptor systems with disturbances[J/OL].IEEE Transactions on Automatic Control,DOI:10.1109/TAC.2018.2827702.[2018-04-16].http://xueshu.baidu.com/s?wd=paperuri%3A%2817cc82b75ae274fbe18ecda00c82e87a%29&filter=sc_long_sign&tn=SE_xueshusource_2kduw22v&sc_vurl=http%3A%2F%2Fieeexplore.ieee.org%2Fdocument%2F8338411%2F&ie=utf-8&sc_us=15849368342258922070.
[3] Fan J H,Zhang Y M,Zheng Z Q.Robust fault-tolerant control against time-varying actuator faults and saturation[J].IET Control Theory & Applications,2012,6(14):2198-2208.
[4] 刘聪,钱坤,李颖晖,等.基于LMI的一体化鲁棒主动容错控制器设计[J].控制与决策,2018,33(1):53-59.Liu C,Qian K,Li Y H,et al.Integrated robust active fault tolerance controller design based on linear matrix inequality[J].Control and Decision,2018,33(1):53-59.
[5] Zhang J,Pang Z,Zhou Y,et al.Active fault tolerant control for networked control systems with actuator fault[C]//Chinese Control Conference.Piscataway,NJ,USA:IEEE,2016:7521-7525.
[6] 卢颖.不确定非线性系统的故障/扰动重构及容错控制[D].重庆:重庆大学,2016.Lu Y.Fault/Noise Reconstruction and fault-tolerant control of nonlinear uncertain systems[D].Chongqing:Chongqing University,2016.
[7] 王振华,沈毅.广义系统的有限频域故障估计器设计[J].自动化学报,2018,44(3):545-551.Wang Z H,Shen Y.Fault estimator design for descriptor systems in finite frequency domain[J].Acta Automatica Sinica,2018,44(3):545-551.
[8] Wang J,Yao X Y,Li W.Hybrid active-passive robust fault-tolerant control of event-triggered nonlinear NCS[J].Open Electrical & Electronic Engineering Journal,2017,11(1):68-86.
[9] 王君,姚晓婉,李炜.NNCS混合容错控制方法[J].控制与决策,2018(2):316-329.Wang J,Yao X W,Li W.Hybrid fault-tolerant control method research of NNCS[J].Control and Decision,2018(2):316-329.
[10] 肖会芹,何勇,吴敏,等.基于T-S模糊模型的网络控制系统非脆弱H∞跟踪控制[J].控制与决策,2015,30(1):110-116.Xiao H Q,He Y,Wu M,et al.Non-fragile H∞tracking control for networked control systems based on T-S fuzzy model[J].Control and Decision,2015,30(1):110-116.
[11] Rajavel S,Samidurai R,Cao J D,et al.Finite-time non-fragile passivity control for neural networks with time-varying delay[J].Applied Mathematics & Computation,2017,297:145-158.
[12] 曹慧超,李炜.执行器饱和不确定NCS非脆弱鲁棒容错控制[J].控制与决策,2013,28(12):1874-1883.Cao H C,Li W.Non-fragile robust fault-tolerant control for uncertain NCS with actuator saturation[J].Control and Decision,2013,28(12):1874-1883.
[13] 杨光红,张志慧.基于区间观测器的动态系统故障诊断技术综述[J].控制与决策,2018,33(5):769-781.Yang G H,Zhang Z H.Review of interval observer based fault diagnosis techniques for dynamic systems[J].Control and Decision,2018,33(5):769-781.
[14] 王日俊,白越,曾志强,等.基于自适应观测器的四旋翼无人飞行器传感器故障诊断方法[J].传感技术学报,2018,31(8):1192-1200.Wang R J,Bai Y,Zeng Z Q,et al.Sensor fault diagnosis method for quadrotor aircraft based on adaptive observer[J].Chinese Journal of Sensors and Actuators,2018,31(8):1192-1200.
[15] Peng C,Yang T C.Event-triggered communication and H∞control co-design for networked control systems[J].Automatica,2013,49(5):1326-1332.
[16] Liu J,Yue D.Event-triggering in networked systems with probabilistic sensor and actuator faults[J].Information Sciences,2013,240(10):145-160.
[17] 王君,李淑真,李炜.基于事件触发机制的NCS主被动混合鲁棒H∞容错控制[J].信息与控制,2017,46(2):144-152.Wang J,Li S Z,Li W.Hybrid active-passive robust fault-tolerant control for a networked control system based on an event-triggered scheme[J].Information and Control,2017,46(2):144-152.
[18] Yang F,Zhang H,Wang Y.An enhanced input-delay approach to sampled-data stabilization of T-S fuzzy systems via mixed convex combination[J].Nonlinear Dynamics,2014,75(3):501-512.
[19] Yang F,Zhang H,Hui G,et al.Mode-independent fuzzy fault-tolerant variable sampling stabilization of nonlinear networked systems with both time-varying and random delays[J].Fuzzy Sets & Systems,2012,207(26):45-63.
[20] 邱爱兵,吉虹钢,顾菊平.非均匀采样数据系统时变故障估计与调节最优集成设计[J].自动化学报,2014,40(7):1493-1504.Qiu A B,Ji H G,Gu J P.Optimal integrated design of time-varying fault estimation and accommodation for nonuniformly sampled data systems[J].Acta Automatica Sinica,2014,40(7):1493-1504.