Fault-tolerant control method and system of under-actuated rigid body system

Abstract

The embodiment of the invention discloses a fault-tolerant control method and system of an under-actuated rigid body system, and relates to the technical field of automatic control. Fault-tolerant control can be adopted for the undetermined under-actuated system caused by an undetermined executor fault, so that the reliability of the rigid body system is improved. The method is suitable for the undetermined under-actuated rigid body system. The method includes the step that for each kind of fault, a controller and a state predictor for guaranteeing stable performance of the system are designed, and a suitable controller is selected based on different state prediction errors.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a fault-tolerant control method and control system of an underactuated rigid body system. Background technique [0002] At present, most rigid body systems need to set actuators to maintain normal operation. When too many actuators in the system fail, it may cause the state of the system to change from overdriven or fully driven to underactuated. An underactuated system refers to the state of the system. A class of nonlinear systems in which the number of independent control variables is less than the number of degrees of freedom of the system, that is, a system with fewer inputs than the amount to be controlled. [0003] In actual engineering, the control problem of the underactuated system will affect the reliability of the rigid body system, but because the actuator fault information is usually unknown, that is, whether there is an actuator fault in the system, which...

AI Technical Summary

Problems solved by technology

[0003] In actual engineering, the control problem of the underactuated system will affect the reliability of the rigid body system, but because the actuator fault information is usually unknown, that is, whether there is an actuator fault in the system, which actuator fails and when the fault occurs is unknown, indeterminate actuator failures lead to system underactuation characteristics that are indeterminate

Moreover, due to the lack of fault-tolerant control methods for uncertain underactuated systems caused by such uncertain actuator failures, the reliability of rigid body systems cannot be effectively improved for a long time.

Images