Zhang Shaojie, Huang Chenyu, Ji Kun, Zhang Han
College of Automation Engineering, Nanjing University of Astronautics and Astronautics, Nanjing 211106, Jiangsu, China.
College of Automation Engineering, Nanjing University of Astronautics and Astronautics, Nanjing 211106, Jiangsu, China.
ISA Trans. 2022 Jan;120:99-109. doi: 10.1016/j.isatra.2021.03.011. Epub 2021 Mar 19.
In this paper, a model-free incremental adaptive optimal fault-tolerant controller with prescribed performance is proposed for nonlinear systems subject to actuator faults. Considering the system actuator redundancy, an actuator grouping scheme is introduced according to the actuator functions. An incremental adaptive fault observer is designed to estimate the faults. The recursive least squares (RLS) identification is utilized to identify the incremental system parameters. Both dynamic process requirements and optimal performance index of the closed loop system are taken into consideration by combining prescribed performance bound (PPB) and incremental adaptive dynamic programming (IADP). Simulations are given to verify the effectiveness of the proposed IADP reconfigurable fault-tolerant control scheme.
本文针对存在执行器故障的非线性系统，提出了一种具有规定性能的无模型增量自适应最优容错控制器。考虑到系统执行器冗余，根据执行器功能引入了一种执行器分组方案。设计了一种增量自适应故障观测器来估计故障。利用递归最小二乘（RLS）辨识来辨识增量系统参数。通过结合规定性能边界（PPB）和增量自适应动态规划（IADP），兼顾了闭环系统的动态过程要求和最优性能指标。给出了仿真结果以验证所提出的IADP可重构容错控制方案的有效性。
