考虑有执行器故障和有界扰动的鲁棒自适应容错补偿控制.pdf

Brief Paper ACTA AUTOMATICA SINICA Vol. 35, No. 3 March, 2009 trol system based on active approaches can compensate for faults either by selecting a precomputed control law or by Robust Adaptive Fault-tolerant synthesizing a new control strategy online. Primarily, there are two typical approaches for fault compensation in active Compensation Control with fault-tolerant, such as adaptive approaches[9?18] and fault detection and isolation (FDI) approaches[19?23]. Since the Actuator Failures and Bounded active FTC system provides the ?exibility to select di?erent controllers, the most suitable controller can be chosen for Disturbances the situation and the better performance can be obtained JIN Xiao-Zheng1 YANG Guang-Hong1, 2 than the passive FTC system. For the active fault-tolerant design approach based on Abstract In this paper, direct adaptive state feedback control FDI, the controller recon?guration or restructure is based schemes are developed to solve the robust fault-tolerant compen- on the fault diagnostic information, which is provided by sation control problem for linear time-invariant continuous-time a fault detection and isolation mechanism. However, it systems with actuator failures and external disturbances. While should be noted that the FDI mechanism might not always both eventual faults and upper bound of disturbances are un- give the exact fault information. Another typical ap