ABSTRACT

The fault-tolerant control problem is investigated for a linear networked system subject to an additive actuator fault as well as random network delays and packet dropouts in the backward and forward channels. To deal with the adverse effects of the actuator fault as well as those communication constraints, an active compensation scheme combining active fault-tolerant control and predictive control is proposed based on the simultaneous estimation of the system state and actuator fault. The obtained closed-loop system is a randomly switched system with bounded round-trip time delays, and the corresponding closed-loop stability condition is derived by using a switched Lyapunov approach. Simulation results for a networked DC motor system are provided to verify the proposed method.

摘要

研究了线性网络系统的容错控制问题，该系统受到附加执行器故障以及后向和前向信道中的随机网络延迟和数据包丢失的影响。针对执行器故障带来的不利影响以及通信约束，提出了一种基于系统状态和执行器故障同时估计的主动容错控制和预测控制相结合的主动补偿方案。得到的闭环系统是一个具有有界往返时延的随机切换系统，并采用切换Lyapunov方法推导了相应的闭环稳定性条件。提供了网络化直流电机系统的仿真结果来验证所提出的方法。