多模态切换系统的异步变结构控制与故障重构研究

本项目将研究基于时间/概率触发机制的多模态切换系统的异步变结构控制和故障重构问题。深入分析异步控制与模态切换的相互作用机理及其对控制性能的影响，将切换信号的特征信息充分考虑到滑模变结构的设计和故障重构中，并在多模态切换之间引入系统运行的能量变化分析，提出有效的抑制外部干扰、内部摄动和滑模抖振的方法。将无源性、耗散性等性能约束考虑到异步切换控制的分析和综合中，致力于建立系统与外界的能量交换和内在能量消耗的关系，从而优化系统在不同模态切换下的暂态和稳态性能。进一步将设计算法应用于四旋翼系统姿态控制与抗干扰跟踪控制的仿真平台，验证理论方法的有效性。本项目旨在揭示系统模态、时间/概率触发和异步切换三者间的耦合作用机理，完善切换系统、滑模控制、故障重构等控制理论体系，并为其在实际工程中的应用提供技术支撑。

This project will study the asynchronous variable structure control and fault reconfiguration for multi-mode switched systems based on the time/probability triggering mechanism. The interaction mechanism of the mode switching and asynchronous phenomenon, and its influence on the control performances will be analyzed deeply. The characteristic information of switching signal will be fully taken into account in the design of sliding mode control and fault reconstruction. Furthermore, the energy changing of system operation during the multi-mode switching will be introduced and analyzed so as to propose an effective method to suppress external disturbances, internal perturbations and sliding mode chattering. Considering the performance constraints such as passivity and dissipation in the analysis and synthesis of asynchronous switching control, the relationship of the energy exchange between the system and the outside world and the internal energy consumption will be constructed so as to optimize the transient and steady state performance of the system subjects to different mode switching. In addition, some algorithms will be designed and applied to the simulation platform of attitude control and anti-disturbances tracking control of the quadrotor system to verify the effectiveness of the theoretical methods. .This project aims to explore the coupling mechanism among the system modes, time/probability triggering and asynchronous switching, improve the framework of control theories of switched system, sliding mode control method and fault reconstruction, and provide technical support for its application in practical engineering.