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Novel fault tolerant control method based on whale optimization algorithm

An optimization algorithm and algorithm technology, applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problems of time-varying time-lag and rarely conduct in-depth research and analysis

Active Publication Date: 2019-11-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] At present, there are more and more studies on the sliding mode prediction algorithm, and various novel control strategies are continuously proposed, but there is little in-depth research and analysis on dealing with time-varying delays.

Method used

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  • Novel fault tolerant control method based on whale optimization algorithm
  • Novel fault tolerant control method based on whale optimization algorithm
  • Novel fault tolerant control method based on whale optimization algorithm

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Embodiment Construction

[0074] The present invention will be further explained below in conjunction with the accompanying drawings.

[0075] Such as figure 1 Considering that the linear sliding mode surface designed by the general sliding mode algorithm has an approaching process, and the approaching process is prone to instability, a full-range sliding mode switching function is designed in terms of the sliding mode prediction model to avoid the failure of the approaching process. Stable, to ensure the global robustness. Considering many factors that affect system control performance, such as system faults, disturbances and time delays, a power function reference trajectory with fault and uncertainty compensation is designed, and the design of the power function reference trajectory is to consider a greater degree of weakening The chattering problem inherent in the sliding mode. A whale optimization algorithm is designed to optimize the rolling optimization problem. This algorithm has few paramete...

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Abstract

The invention discloses a novel sliding mode prediction fault tolerant control method for actuator failure of a variable time delay control system. A sliding mode prediction fault tolerant control method based on whale optimization algorithm is designed for the problem of fault tolerant control of four-rotor systems with discrete time delay uncertainties. The whole-process sliding mode surface isused as a prediction model to ensure the global robustness, and a power function reference trajectory with failure compensation is designed to suppress the uncertainty and failure while reducing the influence of buffeting. In the process of rolling optimization, considering the requirement of high-precision and fast response of the optimization process, the whale optimization algorithm is adoptedto have strong optimization performance, less parameter setting, fast convergence and high precision. The novel fault tolerant control method provided by the invention is applied to robust fault tolerant control of a class of uncertain discrete systems with time-varying delays.

Description

technical field [0001] The invention relates to a sliding mode predictive fault-tolerant control method based on a whale optimization algorithm designed for actuator faults in variable time-delay control systems, and belongs to the technical field of robust fault-tolerant control of uncertain discrete control systems. Background technique [0002] With the development of science and technology, today's society has largely become a society driven by various smart devices. In the long-term operation of smart devices, a series of failures often occur under the influence of external factors. In order to enable the agent to operate safely under fault conditions, the fault-tolerant control technology for dealing with fault problems is developing vigorously, and some achievements have been made in dealing with practical problems. Fault-tolerant control has generally developed into two directions: active fault tolerance and passive fault tolerance, and many brilliant strategies hav...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08G05D1/10
CPCG05B13/048G05D1/0825G05D1/101
Inventor 杨蒲柳张曦李德杰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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