事件触发机制下NNCS的主被动混合容错控制

摘要

考虑到具有时变时廷的实际NCS的非线性特性以及执行器发生失效故障的随机性,研究了离散事件触发机制下NNCS主被动混合容错控制.首先通过T-S模糊模型建模,并利用并行分布补偿方案以及构造Lyaounov-Krasovskii泛函等方法,基于H∞控制思想,设计了故障检测观测器,以实现对故障的在线检测;然后通过离线设计的被动容错控制器确保在已知故障发生时系统保持稳定,在未知故障发生初期,能减缓系统性能下降的速度,并通过重构控制器来补偿未知故障对系统的影响;最后通过一个仿真算例验证了离散事件触发方式对网络资源的节约性以及所采用方法的有效性.%Taking account of the random nature of the actuator failure events and the nonlinear characteristics of real networked control system (NCS) with time-varying delay,the active-passive hybrid fault-tolerant control of NNCS with discrete event-triggering mechanism was investigated.Firstly,the modeling was conducted via T-S fuzzy model based on the parallel distributed compensation (PDC) scheme,an appropriately constructed Lyapunov-Krasovskii functional,and H∞ control idea,a fault detection observer was designed to implement online fault detection.Then,a passive fault-tolerant controller (PFTC) was designed in off-line case to ensure the system stability when a known fault occurred and slow down the rate of performance deterioration when unknown fault happened at its initial period.Moreover,by means of reconfiguring the controller,the influence of unknown faults on the system would be compensated.Finally,a numerical example was given to verify the economical feature of discrete event-triggering mode for network resource and the effectiveness of the proposed method.