摘要
针对非线性非最小相位的垂直起降飞机模型,提出一种基于级联观测器的鲁棒容错控制方案来使得故障系统的输出渐近跟踪给定的期望轨迹.首先,设计级联的两个降阶观测器分别估计未知的干扰和故障信息;然后,通过坐标变换和反馈线性化,把整个系统分解为两个解耦的跟踪子系统;进而基于干扰和故障估计信息分别设计鲁棒最优控制律和最优积分滑模控制律来镇定两个子系统;最后,仿真结果表明了所提方法的有效性和优越性.
A cascade observer-based robust fault tolerant control method is proposed for the nonlinear non-minimum phase vertical take-off and landing （VTOL） aircraft model, with a guarantee that the system outputs asymp- totically track desired trajectory. To begin with, two reduced-order cascade observers are designed to estimate unknown fault and disturbance information, respectively. Using the coordinate transformation and feedback linearization, the original system is decoupled into two tracking subsystems. Subsequently, a robust optimal control law and an optimal integral sliding mode control law are designed, respectively, based on the disturb- ance and fault estimate information in order to stabilize the two subsystems. Finally, the simulation results show the effectiveness and superiority of the proposed method.
出处
《信息与控制》
CSCD
北大核心
2015年第1期76-82,共7页
Information and Control
基金
国家自然科学基金资助项目(61104116
61273171)
教育部博士点基金资助项目(20113218110011)
中央高校研究基金资助项目(NE2014202)
东北大学流程工业综合自动化国家重点实验室开放课题基金资助项目
关键词
垂直起降飞机
非最小相位
干扰观测器
故障诊断
积分滑模
容错控制
vertical take-off and landing（VTOL） aircraft
non-minimum phase
disturbance observer
fault diagnosis
integral sliding mode
fault tolerant control
