Adaptive fault-tolerant control method based on fractional order disturbance observer

Abstract

The invention discloses an adaptive fault-tolerant control method based on a fractional order disturbance observer. The adaptive fault-tolerant control method comprises the following steps: extracting and decomposing information, establishing a new mathematical model of a system, adaptively tracking a disturbance signal by utilizing a disturbance observer, designing a fractional order adaptive fault-tolerant controller of the system and designing active fault-tolerant control of the system. According to the invention, the disturbance observer strategy is integrated into the adaptive fault-tolerant controller method, the disturbance observer is utilized to approach the system disturbance, and the fractional order adaptive fault-tolerant controller of the system is designed by utilizing a dynamic surface method, so that the limitation that a traditional adaptive fault-tolerant control method does not process the system disturbance in time is overcome; and a fractional order disturbance observer is designed to carry out adaptive tracking on system disturbance so as to reduce the influence of the disturbance on system performance, it is guaranteed that the system safely and stably operates under the condition that faults of the system are executed and the system disturbance exists at the same time, and the method is suitable for adaptive fault-tolerant control of a fractional order system and can also be popularized to an integer order system.

Description

technical field [0001] The invention relates to the technical field of adaptive fault-tolerant control of fractional-order systems, in particular to an adaptive fault-tolerant control method based on a fractional-order disturbance observer. Background technique [0002] Adaptive fault-tolerant control technology can be divided into direct adaptive control method and indirect adaptive control method, in which the indirect adaptive control method needs to first identify the parameters of the controlled object, external disturbance, fault and other information, and then design the controller , that is, the flight parameters are directly estimated online first, and the controller parameters are determined according to the estimation results, while the direct adaptive control method does not need to know the exact information of the controlled system, disturbance, fault and other parameters in advance, and can directly adjust online according to the system error response The para...

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Problems solved by technology

[0002] Adaptive fault-tolerant control technology can be divided into direct adaptive control method and indirect adaptive control method, in which the indirect adaptive control method needs to first identify the parameters of the controlled object, external disturbance, fault and other information, and then design the controller , that is, the flight parameters are directly estimated online first, and the controller parameters are determined according to the estimation results, while the direct adaptive control method does not need to know the exact information of the controlled system, disturbance, fault and other parameters in advance, and can directly adjust online according to the system error response The parameters of the controller ensure the rapidity of fault-tolerant control, and without the need for a separate fault diagnosis and identification module, the fault-tolerant control of the control system can be carried out in the first time when a fault occurs, and the above two adaptive fault-tolerant control methods are both It belongs to the traditional method, and there is a problem of not being timely when dealing with system interference, which makes the anti-interference ability and tracking ability of the system poor. Therefore, the present invention proposes an adaptive fault-tolerant control method based on a fractional order interference observer. Solve the problems existing in the existing technology

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