非线性不确定时滞系统的鲁棒容错控制研究及应用

发布时间：2019-01-08 09:32

【摘要】：随着科学技术的发展,非线性不确定时滞系统控制问题的研究受到众多学者的关注,在系统稳定性分析和控制器设计方面均取得了丰富的理论成果,并获得了广泛的实际应用。本论文主要研究了非线性不确定时滞系统的鲁棒容错控制,并将理论研究成果应用于倾转旋翼机的控制。主要研究内容如下:首先,针对所研究的问题,介绍了包括容错控制、鲁棒控制、Lyapunov稳定性理论、状态反馈和线性矩阵不等式理论的相关基础知识;其次,针对一类带有参数不确定性的非线性时滞系统,且不确定性满足一定的增益条件,基于Lyapunov稳定性理论研究了其鲁棒容错控制问题。当传感器和执行器发生故障时,应用线性矩阵不等式(LMI)方法,分别给出了两种故障情况下闭环系统渐近稳定的充分条件,并给出了相应控制器的设计方法。数值算例说明所得结论的有效性;最后,针对倾转旋翼机横侧向飞行控制系统,基于Lyapunov稳定性理论,利用线性矩阵不等式(LMI)方法,当传感器和执行器发生故障时,分别设计出了当系统存在参数不确定性时,闭环系统仍渐近稳定的相应鲁棒容错控制器,使得该飞行控制系统具有较好的鲁棒性。仿真算例说明所提方案的可行性。
[Abstract]:With the development of science and technology, many scholars have paid close attention to the control problem of nonlinear uncertain time-delay systems. They have made rich theoretical achievements in system stability analysis and controller design, and obtained extensive practical applications. In this paper, robust fault-tolerant control for nonlinear uncertain time-delay systems is studied, and the theoretical results are applied to the control of tilting rotorcraft. The main contents are as follows: firstly, the basic knowledge including fault-tolerant control, robust control, Lyapunov stability theory, state feedback and linear matrix inequality theory is introduced. Secondly, for a class of nonlinear time-delay systems with parameter uncertainty, the robust fault-tolerant control problem is studied based on Lyapunov stability theory. When the sensors and actuators fail, the sufficient conditions for the asymptotic stability of the closed-loop systems are given by using the linear matrix inequality (LMI) method, respectively, and the design methods of the corresponding controllers are given. Numerical examples show the validity of the conclusions. Finally, aiming at the lateral flight control system of tilting rotor, based on Lyapunov stability theory, the linear matrix inequality (LMI) (LMI) method is used to design the system when the sensor and actuator fail, respectively, when the system has parameter uncertainty. The closed-loop system is still asymptotically stable and the corresponding robust fault-tolerant controller makes the flight control system robust. A simulation example shows the feasibility of the proposed scheme.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：O175

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