Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance
Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance
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DOI：
10.1016/j.automatica.2010.09.006
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Wen Wang;C. Wen
中科院分区：
文献类型：
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作者：
Wen Wang;C. Wen
为了适应执行器故障在时间、模式和值上的不确定性，我们提出了两种参数严格反馈系统的自适应反推控制方案。首先，在现有方法的基础上提出了一种基本的设计方案。分析表明，当执行器发生故障时，不能通过改变控制器设计参数来调整自适应系统的暂态性能。然后，我们提出了一种新的控制器设计方案，该方案基于一个指定的性能界(PPB)来表征跟踪误差的收敛速度和最大超调量。结果表明，跟踪误差始终满足给定的性能界。仿真研究还验证了所建立的理论结果：与基本方案相比，基于PPB的控制方案能够改善系统的暂态性能，同时在存在不确定执行器故障的情况下，既保证了稳定性，又保证了零稳态误差的渐近跟踪。
In order to accommodate actuator failures which are uncertain in time, pattern and value, we propose two adaptive backstepping control schemes for parametric strict feedback systems. Firstly a basic design scheme on the basis of existing approaches is considered. It is analyzed that, when actuator failures occur, transient performance of the adaptive system cannot be adjusted through changing controller design parameters. Then we propose a new controller design scheme based on a prescribed performance bound (PPB) which characterizes the convergence rate and maximum overshoot of the tracking error. It is shown that the tracking error satisfies the prescribed performance bound all the time. Simulation studies also verify the established theoretical results that the PPB based scheme can improve transient performance compared with the basic scheme, while both ensure stability and asymptotic tracking with zero steady state error in the presence of uncertain actuator failures.