Fault tolerant control of nonlinear hydraulic systems with prescribed performance constraint.
Fault tolerant control of nonlinear hydraulic systems with prescribed performance constraint.
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DOI：
10.1016/j.isatra.2022.04.052
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发表时间：
2022-05
期刊：
影响因子：
7.3
通讯作者：
Wei Shen;Haiming Zhao
中科院分区：
文献类型：
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作者：
Wei Shen;Haiming Zhao
针对位移控制系统跟踪精度低、容错性差的问题，提出了一种容错鲁棒控制器。该方法考虑了多种不确定因素对轨迹跟踪性能的影响，如外部干扰、高度非线性、系统故障以及系统复杂的建模不确定性等。首先，提出了一种新的有限时间观测器来同时估计系统状态、扰动和系统故障。在此基础上，设计了一种改进的快速超扭曲算法，保证了滑动面在有限时间内的可达性。此外，规定的性能约束控制技术相结合，以确保跟踪误差保持在规定的有界范围内，即使发生故障。仿真结果验证了所提控制方法的有效性。
Aiming at the low tracking accuracy and poor fault tolerance of displacement-controlled systems, this paper puts forward a fault tolerant robust controller. The influence of many uncertain factors on trajectory tracking performance have been considered, such as external disturbances, high nonlinearity, system faults, and complex modeling uncertainty of the system. First, a new finite-time observer is proposed to estimate the system states, disturbances, and system faults simultaneously. Then, an improved fast super twisting algorithm is designed to guarantee the reachability of the sliding surface in finite time. Furthermore, the prescribed performance constrained control technique is combined to ensure that the tracking error remains within the prescribed bounded range even though faults occur. Finally, the effectiveness of the proposed control method is validated by simulation results.