不确定时滞系统的鲁棒可靠控制研究
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摘要
容错控制作为一门新兴的交叉学科,其科学意义就是要尽量保证动态系统在发生故障时仍然可以安全稳定运行。实际工程要求控制系统满足某一个或一个以上性能指标要求,因此,要使容错控制能更好地应用于实际工程系统,就必须探讨可靠控制问题。可靠控制是指兼顾性能指标的容错控制。显然,可靠控制系统更符合实际工程需要。
在各类工业系统中,时滞现象普遍存在。时滞的存在不仅导致系统的不稳定性或降低系统的性能,而且给控制器的设计带来了很大的困难。另一方面,由于建模方法的局限性及实际过程自身参数摄动现象的存在,控制过程的精确模型往往难以得到,所获得的系统模型总是存在不确定性。考虑实际控制工程中系统模型的不确定性和时滞的广泛存在性,研究不确定时滞系统的鲁棒可靠控制更符合工程实际需要,具有十分必要的理论和应用价值。
针对不确定时滞系统,考虑一个或一个以上性能指标约束(如保性能、响应速度以及H_∞等),本文利用Lyapunov稳定性理论(包括Lyapunov-Razumkhin稳定性理论),采用线性矩阵不等式等有效工具,分别基于状态反馈方式、静态输出反馈方式、动态输出反馈方式等,研究了能够容忍传感器或执行器故障的鲁棒可靠控制问题,所设计的控制器使系统达到以下要求:①使系统能够容忍传感器或执行器的失效;②使系统对参数扰动和外界扰动不敏感;③使系统不仅要保证鲁棒稳定性,而且又要保证所规定的鲁棒性能,从而提高控制系统的可靠性。
本文的具体研究内容包括以下几个方面:
(1)针对传感器开关型故障,基于状态反馈,研究了不确定时滞系统的鲁棒可靠控制。
①首先,单独考虑指数稳定指标,基于Lyapunov稳定性理论,提出了不确定时滞系统指数稳定可靠控制方法。
②在上面研究的基础上,同时考虑指数稳定指标和鲁棒H_∞指标,进一步提出了不确定时滞系统指数稳定H_∞可靠控制方法。
(2)针对执行器三种故障模型,基于状态反馈,研究了不确定时滞系统的鲁棒可靠控制。
①针对执行器开关型故障,考虑鲁棒H_∞指标,基于Lyapunov-Razumkhin稳定性理论,提出了时变时滞不确定系统鲁棒H_∞可靠控制方法。
②针对执行器增益型故障模型,同时考虑指数稳定和保性能这两项指标,基于Lyapunov稳定性理论,研究了不确定时滞系统的指数稳定保性能可靠控制问题。
③针对执行器集合型故障模型,同时考虑指数稳定和保性能这两项指标,基于Lyapunov稳定性理论,研究了不确定时滞系统的指数稳定保性能可靠控制问题。
④针对执行器集合型故障模型,同时考虑指数稳定和鲁棒H_∞性能这两项指标,基于Lyapunov稳定性理论,讨论了不确定时滞系统的指数稳定鲁棒H_∞可靠控制问题。
⑤针对执行器开关型故障,同时考虑保性能和H_∞这两项指标,基于Lyapunov-Razumkhin方法,研究了一类参数不确定时滞受扰系统的保成本H_∞鲁棒可靠控制问题。
(3)针对执行器开关型故障模型,考虑H_∞指标,采用静态输出反馈方式,基于Lyapunov-Razumkhin方法,研究了一类参数不确定时滞受扰系统的鲁棒H_∞可靠控制。
(4)针对执行器开关型故障模型,基于动态输出反馈方式,利用变量替换方法,分别研究了一类不确定时滞系统的保性能可靠控制问题和一类受扰时滞系统的可靠H_∞控制问题。
①对于前一类问题,考虑保性能指标,给出了动态输出反馈保性能可靠控制器的设计方法和设计步骤。
②对后一类问题,考虑H_∞指标,给出了动态输出反馈H_∞可靠控制器的设计方法和设计步骤。
Fault-tolerant control (FTC) is a rising cross-discipline. Its science significance lies in that it can guarantee system's asymptotic stability when component failures occur during the process of system operation. Practical engineering project requires that control system must meet the need for one or more than one performance index. Consequentlly, fault-tolerant control design considering performance indices must be discussed if fault-tolerant control theory can be applied to actual engineering system. In fact, reliable control is the fault-tolerant control which takes into account performance indices. Apparently reliable control accords with practical engineering background.
Time delay is a common phenomenon in industries. The existence of time delay not only results in instability and performance deterioration of system but aslo makes designing controller to be difficult. Study for the time-delay system has high both theoretical and practical significance. On the other hand, due to the limitation of model-building techniques and the variation of plant parameters, it is impossible that plant model builded accords completely with actual plant. More or less, there always exists error model between them. Such error is named as uncertainty. Obviously, control system dealling with both uncertaity and time delay mentioned above has background of practical engineering. Consequentlly it has very significant theory and application value to research robust reliable control for uncertain time delay system.
In this dissertation, considering one or more than one performance index such as guaranteed cost index and exponential stabilization index as well as H-infiniti constraint, on the basis of the Lyapunov stability theory (including Lyapunov-Razumkhin stability theory) and by means of linear matrix inequalities(LMIs), we mainly study the problem of robust reliable control via state feedback, static output feedback and dynamic output feedback for the uncertain time delay system against actuator or sensor failures, respectively. Our aim is that robust reliable control system designed can meet demands as following:
(1) The closed-loop control system can tolerate sensor or actuator failures.
(2) The closed-loop control system is insensitive to system parameter disturbance as well as enviroment noise disturbance.
(3) The closed-loop control system possesses not only robust stability but aslo robust performance indices.
The main researches include as follows:
(1) As for sensor failures of on-off model, the problem of robust reliable control via state feedback is studied for uncertain time-varying delayed system.
①Firstly, considering exponential stabilization index alone, reliable control with exponential stabilization is investigated. Based on Lyapunov stability theory, a sufficient condition for the existence of reliable controller with exponential stability is derived and transformed to a LMI. Furthermore, the design approaches and steps of reliable controller are given.
②Secondly, on the basis of above research, considering both exponential stabilization index and H_∞index, robust H_∞reliable control with exponential stabilization is discussed. Sufficient conditions of the existing of robust controller are presented and transformed to two LMIs, and the associated designing approach of state-feedback controller is provided.
(2) As for three kinds of actuator failure models, the problem of robust reliable control via state feedback is studied for uncertain time-delayed system.
①Firstly, as for actuator failures of on-off model, considering H_∞index, robust H_∞reliable control is investigated for time-varying delayed uncertain systems. Based on Lyapunov-Razumkhin stability theory, a sufficient condition of the existing of robust reliable controller possessing H_∞performance index is given and the associated designing approach of state-feedback controller is presented. Those results are represented by LMIs and are correlative with time delay. Our method can be applied to fast time-varying delay system.
②Secondly, as for actuator failures of gain model, considering both exponential stabilization index and guaranteed cost index, guaranteed cost reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the existence of the reliable controller is derived and transformed to a LMI.
③Thirdly, as for actuator failures of aggregative model, considering b.oth exponential stabilization index and guaranteed cost index, guaranteed cost reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the existence of the reliable controller is derived and transformed to a LMI.
④Fourthly, as for actuator failures of aggregative model, considering both exponential stabilization index and H_∞index, robust H_∞reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, sufficient conditions of the existing of robust reliable controller are presented. Those conditions are transformed to two LMIs.
⑤Finally, as for actuator failures of on-off model, considering both guaranteed-cost index and H_∞index, guaranteed-cost H_∞robust reliable control is investigated for time-delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the guaranteed-cost H_∞robust reliable controller is established.
(3) As for actuator failures of on-off model, the problem of robust H_∞reliable control via static output feedback is studied for uncertain time-varying delayed system. Based on Lyapunov-Razumkhin stability theory, a sufficient condition of the existing of robust reliable controller possessing H_∞performance index is given and the associated designing approach of static output feedback controller is presented. Those results are represented by LMIs and are correlative with time delay.
(4) As for actuator failures of on-off model, based on dynamic output feedback, the problem of guaranteed cost reliable control and the problem of H_∞reliable control are investigated, respectively.
①Firstly, guaranteed cost reliable control is investigated for uncertain delay system. By means of variables switchover, two LMIs which are the sufficient condition of the existing of guaranteed cost reliable controller are given and the associated designing approach of dynamic output feedback controller is presented.
②Secondly, reliable H_∞control is investigated for time-varying delayed systems. By means of variables switchover, two LMIs which are the sufficient condition of the existing of reliable H_∞controller are given and the associated designing approach of dynamic output feedback controller is presented.
在各类工业系统中,时滞现象普遍存在。时滞的存在不仅导致系统的不稳定性或降低系统的性能,而且给控制器的设计带来了很大的困难。另一方面,由于建模方法的局限性及实际过程自身参数摄动现象的存在,控制过程的精确模型往往难以得到,所获得的系统模型总是存在不确定性。考虑实际控制工程中系统模型的不确定性和时滞的广泛存在性,研究不确定时滞系统的鲁棒可靠控制更符合工程实际需要,具有十分必要的理论和应用价值。
针对不确定时滞系统,考虑一个或一个以上性能指标约束(如保性能、响应速度以及H_∞等),本文利用Lyapunov稳定性理论(包括Lyapunov-Razumkhin稳定性理论),采用线性矩阵不等式等有效工具,分别基于状态反馈方式、静态输出反馈方式、动态输出反馈方式等,研究了能够容忍传感器或执行器故障的鲁棒可靠控制问题,所设计的控制器使系统达到以下要求:①使系统能够容忍传感器或执行器的失效;②使系统对参数扰动和外界扰动不敏感;③使系统不仅要保证鲁棒稳定性,而且又要保证所规定的鲁棒性能,从而提高控制系统的可靠性。
本文的具体研究内容包括以下几个方面:
(1)针对传感器开关型故障,基于状态反馈,研究了不确定时滞系统的鲁棒可靠控制。
①首先,单独考虑指数稳定指标,基于Lyapunov稳定性理论,提出了不确定时滞系统指数稳定可靠控制方法。
②在上面研究的基础上,同时考虑指数稳定指标和鲁棒H_∞指标,进一步提出了不确定时滞系统指数稳定H_∞可靠控制方法。
(2)针对执行器三种故障模型,基于状态反馈,研究了不确定时滞系统的鲁棒可靠控制。
①针对执行器开关型故障,考虑鲁棒H_∞指标,基于Lyapunov-Razumkhin稳定性理论,提出了时变时滞不确定系统鲁棒H_∞可靠控制方法。
②针对执行器增益型故障模型,同时考虑指数稳定和保性能这两项指标,基于Lyapunov稳定性理论,研究了不确定时滞系统的指数稳定保性能可靠控制问题。
③针对执行器集合型故障模型,同时考虑指数稳定和保性能这两项指标,基于Lyapunov稳定性理论,研究了不确定时滞系统的指数稳定保性能可靠控制问题。
④针对执行器集合型故障模型,同时考虑指数稳定和鲁棒H_∞性能这两项指标,基于Lyapunov稳定性理论,讨论了不确定时滞系统的指数稳定鲁棒H_∞可靠控制问题。
⑤针对执行器开关型故障,同时考虑保性能和H_∞这两项指标,基于Lyapunov-Razumkhin方法,研究了一类参数不确定时滞受扰系统的保成本H_∞鲁棒可靠控制问题。
(3)针对执行器开关型故障模型,考虑H_∞指标,采用静态输出反馈方式,基于Lyapunov-Razumkhin方法,研究了一类参数不确定时滞受扰系统的鲁棒H_∞可靠控制。
(4)针对执行器开关型故障模型,基于动态输出反馈方式,利用变量替换方法,分别研究了一类不确定时滞系统的保性能可靠控制问题和一类受扰时滞系统的可靠H_∞控制问题。
①对于前一类问题,考虑保性能指标,给出了动态输出反馈保性能可靠控制器的设计方法和设计步骤。
②对后一类问题,考虑H_∞指标,给出了动态输出反馈H_∞可靠控制器的设计方法和设计步骤。
Fault-tolerant control (FTC) is a rising cross-discipline. Its science significance lies in that it can guarantee system's asymptotic stability when component failures occur during the process of system operation. Practical engineering project requires that control system must meet the need for one or more than one performance index. Consequentlly, fault-tolerant control design considering performance indices must be discussed if fault-tolerant control theory can be applied to actual engineering system. In fact, reliable control is the fault-tolerant control which takes into account performance indices. Apparently reliable control accords with practical engineering background.
Time delay is a common phenomenon in industries. The existence of time delay not only results in instability and performance deterioration of system but aslo makes designing controller to be difficult. Study for the time-delay system has high both theoretical and practical significance. On the other hand, due to the limitation of model-building techniques and the variation of plant parameters, it is impossible that plant model builded accords completely with actual plant. More or less, there always exists error model between them. Such error is named as uncertainty. Obviously, control system dealling with both uncertaity and time delay mentioned above has background of practical engineering. Consequentlly it has very significant theory and application value to research robust reliable control for uncertain time delay system.
In this dissertation, considering one or more than one performance index such as guaranteed cost index and exponential stabilization index as well as H-infiniti constraint, on the basis of the Lyapunov stability theory (including Lyapunov-Razumkhin stability theory) and by means of linear matrix inequalities(LMIs), we mainly study the problem of robust reliable control via state feedback, static output feedback and dynamic output feedback for the uncertain time delay system against actuator or sensor failures, respectively. Our aim is that robust reliable control system designed can meet demands as following:
(1) The closed-loop control system can tolerate sensor or actuator failures.
(2) The closed-loop control system is insensitive to system parameter disturbance as well as enviroment noise disturbance.
(3) The closed-loop control system possesses not only robust stability but aslo robust performance indices.
The main researches include as follows:
(1) As for sensor failures of on-off model, the problem of robust reliable control via state feedback is studied for uncertain time-varying delayed system.
①Firstly, considering exponential stabilization index alone, reliable control with exponential stabilization is investigated. Based on Lyapunov stability theory, a sufficient condition for the existence of reliable controller with exponential stability is derived and transformed to a LMI. Furthermore, the design approaches and steps of reliable controller are given.
②Secondly, on the basis of above research, considering both exponential stabilization index and H_∞index, robust H_∞reliable control with exponential stabilization is discussed. Sufficient conditions of the existing of robust controller are presented and transformed to two LMIs, and the associated designing approach of state-feedback controller is provided.
(2) As for three kinds of actuator failure models, the problem of robust reliable control via state feedback is studied for uncertain time-delayed system.
①Firstly, as for actuator failures of on-off model, considering H_∞index, robust H_∞reliable control is investigated for time-varying delayed uncertain systems. Based on Lyapunov-Razumkhin stability theory, a sufficient condition of the existing of robust reliable controller possessing H_∞performance index is given and the associated designing approach of state-feedback controller is presented. Those results are represented by LMIs and are correlative with time delay. Our method can be applied to fast time-varying delay system.
②Secondly, as for actuator failures of gain model, considering both exponential stabilization index and guaranteed cost index, guaranteed cost reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the existence of the reliable controller is derived and transformed to a LMI.
③Thirdly, as for actuator failures of aggregative model, considering b.oth exponential stabilization index and guaranteed cost index, guaranteed cost reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the existence of the reliable controller is derived and transformed to a LMI.
④Fourthly, as for actuator failures of aggregative model, considering both exponential stabilization index and H_∞index, robust H_∞reliable control with exponential stabilization is investigated for time-varying delayed uncertain systems. Based on Lyapunov stability theory, sufficient conditions of the existing of robust reliable controller are presented. Those conditions are transformed to two LMIs.
⑤Finally, as for actuator failures of on-off model, considering both guaranteed-cost index and H_∞index, guaranteed-cost H_∞robust reliable control is investigated for time-delayed uncertain systems. Based on Lyapunov stability theory, a sufficient condition for the guaranteed-cost H_∞robust reliable controller is established.
(3) As for actuator failures of on-off model, the problem of robust H_∞reliable control via static output feedback is studied for uncertain time-varying delayed system. Based on Lyapunov-Razumkhin stability theory, a sufficient condition of the existing of robust reliable controller possessing H_∞performance index is given and the associated designing approach of static output feedback controller is presented. Those results are represented by LMIs and are correlative with time delay.
(4) As for actuator failures of on-off model, based on dynamic output feedback, the problem of guaranteed cost reliable control and the problem of H_∞reliable control are investigated, respectively.
①Firstly, guaranteed cost reliable control is investigated for uncertain delay system. By means of variables switchover, two LMIs which are the sufficient condition of the existing of guaranteed cost reliable controller are given and the associated designing approach of dynamic output feedback controller is presented.
②Secondly, reliable H_∞control is investigated for time-varying delayed systems. By means of variables switchover, two LMIs which are the sufficient condition of the existing of reliable H_∞controller are given and the associated designing approach of dynamic output feedback controller is presented.
引文
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