基于观测器的非线性系统执行器死区故障的自适应跟踪控制

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (7): 1699-1704.

基于观测器的非线性系统执行器死区故障的自适应跟踪控制

罗小元, 武晓晶, 华长春, 刘会雪, 关新平

燕山大学电气工程学院工业计算机控制工程河北省重点实验室, 河北, 秦皇岛, 066004

收稿日期:2008-04-21 修回日期:2008-09-25 出版日期:2009-07-20 发布日期:2010-01-03
作者简介:罗小元(1976- ),男,副教授,博士,主要研究方向为鲁棒控制,容错控制等.E-mail:xyluo@ysu.edu.cn
基金资助:
国家自然科学基金资助课题(60525303;60704009)

Adaptive tracking of nonlinear systems with actuator dead-zone fault based-on observer

LUO Xiao-yuan, WU Xiao-jing, HUA Chang-chun, LIU Hui-xue, GUAN Xin-ping

Key Lab. of Industrial Computer Control Engineering of Hebei Province, Coll. of Electrical Engineering, Yanshan Univ., Qinhuangdao 066004, China

Received:2008-04-21 Revised:2008-09-25 Online:2009-07-20 Published:2010-01-03

摘要/Abstract

摘要： 研究了一类具有不对称执行器死区故障的非线性系统的跟踪控制问题。基于扩张观测器,提出了一种新的自适应跟踪控制方法。取消了系统所有状态完全可测的限制。在死区模型所有参数以及系统非线性不确定项上界均未知的情况下,所设计的自适应控制器可以很好地消除执行器死区故障的影响,保证跟踪误差有界。仿真结果表明该方法的有效性。

Abstract: An adaptive tracking control problem is investigated for a class of nonlinear systems with non-symmetric actuator dead-zone fault.Based on extended observers,a new adaptive tracking control method is proposed.The restriction that all states of the system can be fully measured is canceled.On conditions that the dead zone model parameters and the bound of the uncertain nonlinear term are all unknown,the proposed adaptive controller can eliminate the effect of actuator dead-zone faults well and ensure bounded-errors tracking.Finally,the results of simulation show the effectiveness of the proposed method.

中图分类号:

TP273

罗小元, 武晓晶, 华长春, 刘会雪, 关新平. 基于观测器的非线性系统执行器死区故障的自适应跟踪控制[J]. Journal of Systems Engineering and Electronics, 2009, 31(7): 1699-1704.

LUO Xiao-yuan, WU Xiao-jing, HUA Chang-chun, LIU Hui-xue, GUAN Xin-ping. Adaptive tracking of nonlinear systems with actuator dead-zone fault based-on observer[J]. Journal of Systems Engineering and Electronics, 2009, 31(7): 1699-1704.

参考文献

[1] Gao Z W,Ding S X.Actuator fault robust estimation and fault tolerant control for a class of nonlinear descriptor systems[J].Automatica,2007,43:912-920.
[2] Gao Z W,Ding S X.Sensor fault reconstruction and sensor compensation for a class of nonlinear state-space systems via a descriptor system approach[J].IET Control Theory Appl.,2007,1(3):578-585.
[3] Recker D,Kokotovic P V,Rhode D,et al.Adaptive nonlinear control of systems containing a dead-zone[C]//Proc.of the ZOth IEEE Conference on Decision and Control,Brighton,UK,1991:2111-2115.
[4] Zhou J,Zhang C,Wen C.Robust adaptive output control of uncertain nonlinear plants with unknown backlash nonlinearity[J].IEEE Trans,on Automatic Control,2007,52(3):503-509.
[5] Tao G,Kokotovic P V.Adaptive control of systems with back-lash[J].Automatica,1993,29(2):323-335.
[6] Bai E W.Adaptive dead-zone inverse for possibly nonlinear control systems[M]//Springer,Berlin,2001.
[7] Selmic R R,Lewis F L.Dead zone compensation in motion control systems using neural networks[J].IEEE Trans.on Automatic Control,2000,45(4):602-613.
[8] Tao G,Kokotovic P V.Adaptive control of plants with unknown dead-zones[J].IEEE Trans.on Automatic Control,1994,39(1):59-68.
[9] Wang X S,Su C Y,Hong H.Robust adaptive control of a class of linear systems with unknown dead-zone[J].Automatica,2004,40(3):407-413.
[10] Ibrir S,Xie W F,Su C Y.Adaptive tracking of nonlinear systems with non-symmetric dead-zone input[J].Automatica,2007,43(3):522-530.
[11] Shen Q K,Zhang T P.Adaptive fuzzy control with unknown nonlinear dead-zone[J].Control and Decision,2007,22(6):689-692.
[12] Chen J,Zhang T P,L· L X.Adaptive control for a class of uncertain chaotic system with dead-zone nonlinearity[J].Chinese Physics,2007,56(2),686-692.
[13] 夏扬,曹松银,于启红,等.一类非线性系统的执行器偏差故障检测与诊断[J].仪器仪表学报,2006,27(11):1423-1426.
[14] 王新华,陈增强,袁著祉.基于扩张观测器的非线性不确定系统输出跟踪[J].控制与决策,2004,19(10):1113-1116.

[1]	杨文奇, 卢建华, 姜旭, 王元鑫. 基于改进ESO的四旋翼姿态自抗扰控制器设计[J]. 系统工程与电子技术, 2022, 44(12): 3792-3799.
[2]	徐海祥, 胡聪, 余文曌, 姚国全. 输入约束下的浮力调节式UUV变深控制[J]. 系统工程与电子技术, 2022, 44(11): 3496-3504.
[3]	刘满, 张宏军, 徐有为, 冯欣亮, 冯玉芳. 群队级兵棋实体智能行为决策方法研究[J]. 系统工程与电子技术, 2022, 44(8): 2562-2569.
[4]	史浩然, 卢发兴, 祁江鑫, 杨光. 基于辅助信标的无人机协同目标跟踪[J]. 系统工程与电子技术, 2022, 44(7): 2302-2310.
[5]	高升, 马广富, 郭延宁. 基于自适应未知输入观测器的多故障快速重构[J]. 系统工程与电子技术, 2022, 44(7): 2364-2373.
[6]	冯建鑫, 王雅雷, 王强, 胥彪. 基于改进粒子群算法的快速反射镜自抗扰控制[J]. 系统工程与电子技术, 2021, 43(12): 3675-3682.
[7]	刘星, 王文双, 赵建印, 朱敏. 自适应在线增量ELM的故障诊断模型研究[J]. 系统工程与电子技术, 2021, 43(9): 2678-2687.
[8]	李春辉, 马健, 杨永建, 肖冰松, 邓有为, 盛涛. 基于修正的自适应平方根容积卡尔曼滤波算法[J]. 系统工程与电子技术, 2021, 43(7): 1824-1830.
[9]	曹晓明, 魏勇, 衡辉, 沈智鹏. 海流扰动下无人水下航行器的动态面反演轨迹跟踪控制[J]. 系统工程与电子技术, 2021, 43(6): 1664-1672.
[10]	张跃坤, 贾晓洪, 张晓阳, 王炜强. 基于有限时间收敛干扰观测器的探导控一体化设计[J]. 系统工程与电子技术, 2021, 43(5): 1326-1334.
[11]	高昂, 董志明, 李亮, 宋敬华, 段莉. MADDPG算法并行优先经验回放机制[J]. 系统工程与电子技术, 2021, 43(2): 420-433.
[12]	顾凌枫, 何明, 陈国友, 季敏惠, 刘锦涛. 无人机集群系统弹性研究[J]. 系统工程与电子技术, 2021, 43(1): 156-162.
[13]	丁春山. 传感器管理技术研究现状与展望[J]. 系统工程与电子技术, 2020, 42(12): 2761-2770.
[14]	付焕森, 崔宝同, 庄波, 张建中. 一类具输入时滞的分布参数系统移动控制[J]. 系统工程与电子技术, 2020, 42(11): 2600-2606.
[15]	时维国, 国明. 鲸鱼优化相关向量机的网络控制系统变采样周期调度[J]. 系统工程与电子技术, 2020, 42(10): 2348-2355.