自动化学报Issue(11)：2445-2455,11.DOI:10.3724/SP.J.1004.2014.02445
基于MMST分组的一类MIMO非线性系统执行器故障自适应补偿控制
Adaptive Compensation Control Based on MMST Grouping for a Class of MIMO Nonlinear Systems with Actuator Failures
摘要
Abstract
For multiple-input multiple-output (MIMO) nonlinear systems fault tolerant control problems, compensable actuator failure sets are highly interrelated with the actuator grouping method. In order to enlarge the set of compensable actuator failures, an adaptive compensation control scheme with multiple model switching and tuning (MMST) actuator grouping is proposed for a class of nonlinear MIMO minimum phase systems with multiple actuator failures. Based on differential geometry feedback linearization, a backstepping adaptive compensation control law is designed for the systems with actuators locked in space or losing of effectiveness, and a new actuator grouping scheme based on MMST which enlarges the set of compensable actuator failures is proposed. The proposed control law can guarantee that the closed-loop systems with actuator failures are stable and asymptotically track of the given reference signals. Simulation results demonstrate the effectiveness of the proposed method.关键词
多输入多输出非线性系统/执行器故障/反演控制/自适应补偿/执行器分组/多模型切换Key words
Multiple-input multiple-output (MIMO) nonlinear systems/actuator failure/backstepping control/adaptive compensation/actuator grouping/multiple model switching and tuning (MMST)引用本文复制引用
张绍杰,邱相玮,刘春生,胡寿松..基于MMST分组的一类MIMO非线性系统执行器故障自适应补偿控制[J].自动化学报,2014,(11):2445-2455,11.基金项目
国家自然科学基金(61074063,61473147),中央高校基本科研业务费(NZ2012007, NS2013032)资助@@@@Supported by National Natural Science Foundation of China (61074063,61473147), and the Fundamental Research Funds for the Central Universities (NZ2012007, NS2013032) （61074063,61473147）
