摘要
针对具有不确定性和故障的三自由度并联稳定平台,提出一种基于障碍李雅普诺夫函数的反步容错控制方法。将模型不确定性、外部扰动和故障因素视为不确定性集合,通过固定时间扰动观测器对其进行实时估计,实现对控制器的补偿。通过引入障碍李雅普诺夫函数对系统状态进行约束,再结合反步法设计一种带有状态约束的容错控制器。通过稳定性理论证明该系统所有的闭环信号能够达到一致最终有界,仿真试验结果表明,该控制器能使平台在故障情况下保持稳定位姿,且能对不确定性集合进行快速、精确的估计以提升系统的稳定性。
For a three-degree-of-freedom parallel stabilized platform with uncertainties and faults,a backstepping fault-tolerant control method based on barrier Lyapunov function(BLF) is proposed.Model uncertainties,external disturbances,and fault factors are regarded as uncertainty sets,and they are estimated in real-time using the Fixed-Time Disturbance Observer to compensate for the controller.By introducing Barrier Lyapunov Function to constrain the system states and combining it with backstepping control,a fault-tolerant controller with state constraints is designed.It is proved by stability theory that all closed-loop signals of the system can reach uniformly and finally bounded,and the simulation experiments demonstrate that the controller can effectively maintain the stable position and orientation of the platform even under fault conditions,while rapidly and accurately estimating the uncertainty set to improve the stability of the system.
作者
徐世荣
俞国燕
邢雪峰
XU Shirong;YU Guoyan;XING Xuefeng(School of Mechanical and Power Engineering,Guangdong Ocean University,Zhanjiang 524088,Guangdong,China;Guangdong Provincial Marine Equipment and Manufacturing Engineering Technology Research Center,Zhanjiang 524088,Guangdong,China;Southern Marine Science and Engineering Guangdong Laboratory(Zhanjiang),Zhanjiang 524000,Guangdong,China)
出处
《船舶工程》
CSCD
北大核心
2024年第1期98-104,共7页
Ship Engineering
基金
广东省区域联合基金项目(2019B1515120017)
广东省海洋经济发展(海洋六大产业)专项(GDNRC[2021]42)
湛江市创新创业团队引育“领航计划”项目(2020LHJH003)
湛江市现代海洋渔业装备重点实验室(2021A05023)。
关键词
并联稳定平台
障碍李雅普诺夫函数
容错控制
扰动观测器
parallel stabilized platform
barrier Lyapunov function(BLF)
fault-tolerant control
disturbance observer
