Fault-tolerant control method for nonlinear actuator fault system based on observer

Abstract

The invention discloses a fault-tolerant control method for a nonlinear actuator fault system based on an observer, which belongs to the field of intelligent control. Mainly under a data-driven framework, aiming at the fault-tolerant control problem of a repeatable nonlinear system with an actuator fault, the control scheme is as follows: establishing the repeatable nonlinear system with the actuator fault; iteratively linearizing the nonlinear system into an equivalent linear data model; designing an iterative learning observer to estimate system output; designing an iterative updating algorithm to estimate an unknown gradient matrix in the linear data model; and designing an observer-based controller to realize fault-tolerant control of the nonlinear actuator fault system. According to the observer-based fault-tolerant control method for the nonlinear actuator fault system, the inhibiting effect of the observer on uncertainty is utilized, good tracking performance and high robustnessare achieved, and in addition, due to the fact that a data driving technology is used, the fault-tolerant control method does not depend on model information and has good adaptability.

Description

technical field [0001] The invention belongs to the field of intelligent control, and more specifically relates to a fault-tolerant control method of an observer-based nonlinear actuator fault system. Background technique [0002] In the actual control process, due to the existence of faults, many variables are inaccurate, which seriously affects the control performance. In order to solve this problem, an observer-based fault-tolerant control method for actuator fault systems is proposed to control this type of system, so that the system can track the desired trajectory in the presence of actuator faults. [0003] For the research on the observer-based fault-tolerant control method for the actuator failure system, the following two aspects need to be considered: 1. The system can still track the desired trajectory in the presence of actuator disturbances in the system; 2. For The control system becomes diversified, and the designed controller can be applied to various syste...

AI Technical Summary

Problems solved by technology

However, due to the development of technology, the control system has become diversified, and it has become more and more difficult to model the control objects

Therefore, the model-dependent observer-based control method is less versatile, and data-driven techniques can be used to design observers and observer-based control methods

Images