A fault-tolerant control method and control system for an underactuated rigid body system

Abstract

The embodiment of the invention discloses a fault-tolerant control method and control system for an underactuated rigid body system, which relates to the technical field of automatic control, and can adopt fault-tolerant control for an uncertain underactuated system caused by an uncertain actuator failure, thereby improving the reliability of the rigid body system sex. Applicable to uncertain underactuated rigid body systems. The method of the invention includes: designing a controller and a state predictor to ensure system stability performance for each fault condition, and selecting a suitable controller 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