基于观测器的非线性网络控制系统容错控制

摘要

研究了一类基于观测器的非线性连续网络控制系统容错控制器设计问题.针对传感器采用时间驱动方式,控制器和执行器均采用事件驱动方式的网络控制系统,设计了观测器,建立了基于状态观测器的增广闭环系统模型.利用线性矩阵不等式和自由权矩阵的方法,推导出闭环系统渐近稳定的充分条件,给出了观测器和容错控制器协同设计的方法.实例仿真证明了所用方法的有效性.%We investigate the fault-tolerant controller design for a class of nonlinear continuous networked control systems based on the observer. For the networked control systems with clock-driven sensor and event-driven controller and actuator, the corresponding observer is designed and the augmented closed-loop system model is built. The sufficient condition of the stability for the closed-loop system is derived by using linear matrix inequalities and free-weighting matrices. The method of coordinate design of the observer and the fault-tolerant controller is also presented. Finally, a simulation example validates the proposed method.