执行器故障不确定非线性系统最优自适应输出跟踪控制

张绍杰; 吴雪; 刘春生

doi:10.16383/j.aas.2018.c170300

执行器故障不确定非线性系统最优自适应输出跟踪控制

doi: 10.16383/j.aas.2018.c170300

张绍杰^1, ,,
吴雪^1,,
刘春生^1,

1.
南京航空航天大学自动化学院南京 211106

基金项目:

国家自然科学基金 61473147

详细信息

作者简介:
吴雪南京航空航天大学自动化学院硕士生.2014年获得南京农业大学工学院学士学位.主要研究方向为非线性系统控制, 容错控制.E-mail:739395831@qq.com

刘春生南京航空航天大学自动化学院教授.2006年获得南京航空航天大学自动化学院博士学位.主要研究方向为非线性系统控制, 容错控制.E-mail:liuchsh@nuaa.edu.cn

通讯作者:
张绍杰南京航空航天大学自动化学院副教授.2009年获得南京航空航天大学自动化学院博士学位.主要研究方向为非线性系统控制, 容错控制, 飞行控制.本文通信作者.E-mail:zhangsj@nuaa.edu.cn

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出版历程
- 收稿日期: 2017-06-05
- 录用日期: 2017-10-03
- 刊出日期: 2018-12-20

Optimal Adaptive Output Tracking Control for a Class of Uncertain Nonlinear Systems With Actuator Failures

1.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106

Funds:

National Natural Science Foundation of China 61473147

More Information

Author Bio:
Master student at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. She received her bachelor degree from Nanjing Agricultural University in 2014. Her research interest covers nonlinear system control, and fault tolerant control

Professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. She received her Ph. D. degree from the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics in 2006. Her research interest covers nonlinear system control, and fault tolerant control

Corresponding author: ZHANG Shao-Jie Associate professor at the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics. He received his Ph. D. degree from the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics in 2009. His research interest covers nonlinear system control, fault tolerant control, flight control. Corresponding author of this paper

摘要

摘要: 本文针对一类具有执行器故障的多输入多输出（Multi-input multi-output，MIMO）不确定连续仿射非线性系统，提出了一种最优自适应输出跟踪控制方案.设计了保证系统稳定性的不确定项估计神经网络权值调整算法，仅采用评价网络即可同时获得无限时域代价函数和满足哈密顿-雅可比-贝尔曼（Hamilton-Jacobi-Bellman，HJB）方程的最优控制输入.考虑执行器卡死和部分失效故障，设计最优自适应补偿控制律，所设计的控制律可以实现对参考输出的一致最终有界跟踪.飞行器控制仿真和对比验证表明了本文方法的有效性和优越性.
- 多输出多输出非线性系统 /
- 执行器故障 /
- 自适应动态规划 /
- 最优自适应控制 /
- 输出跟踪控制 /
- 神经网络
Abstract: An optimal adaptive actuator failure output tracking control scheme is proposed for a class of multi-input multi-output (MIMO) uncertain affine nonlinear continuous-time systems with redundant actuators subject to uncertain failures. The weight adjustment law of the neural network uncertainty estimators can guarantee the stability of the control system, and only critic neural network is used in the proposed adaptive dynamic programming (ADP) scheme to simultaneously get the infinite horizon cost function and the approximate optimal control input satisfying the Hamilton-Jacobi-Bellman (HJB) equation. Considering the stuck-in-space and loss of effectiveness faults of actuators, an optimal adaptive compensation control scheme is designed, which can guarantee the uniformly ultimate boundedness tracking ability of the closed loop system. Flight control simulations and comparative analysis results have demonstrated the effectiveness and advantage of the proposed method.
- MIMO nonlinear systems /
- actuator failure /
- adaptive dynamic programming /
- optimal adaptive control /
- output tracking control /
- neural networks
注释:

1) 本文责任编委刘艳军

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图 1 本文方法的$y_1$和$y_{r1}$

Fig. 1 $y_1$ and $y_{r1}$ of the proposed method

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图 2 文献[13]方法的$y_1 $和$y_{r1}$

Fig. 2 $y_1$ and $y_{r1}$ of [13]

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图 3 本文方法的$y_2 $和$y_{r2} $

Fig. 3 $y_2$ and $y_{r2}$ of the proposed method

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图 4 文献[13]方法的$y_2 $和$y_{r2}$

Fig. 4 $y_2$ and $y_{r2}$ of [13]

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图 5 本文和文献[13]方法的$y_1 $跟踪误差$e_1 $, $e_{11} $

Fig. 5 Tracking errors $e_1 $, $e_{11} $ of $y_1$ by the proposed method and [13]

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图 6 本文和文献[13]方法的$y_2$跟踪误差$e_2 $, $e_{22} $

Fig. 6 Tracking errors $e_2 $, $e_{22} $ of $y_2$ by the proposed method and [13]

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图 7 系统状态误差估计$\tilde {x}_2$

Fig. 7 Estimating error of system state $\tilde {x}_2$

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图 8 不确定项估计神经网络权值$W_2$

Fig. 8 Weights $W_2$ of uncertainty estimating neural network

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执行器故障不确定非线性系统最优自适应输出跟踪控制

doi: 10.16383/j.aas.2018.c170300

通讯作者:
张绍杰南京航空航天大学自动化学院副教授.2009年获得南京航空航天大学自动化学院博士学位.主要研究方向为非线性系统控制, 容错控制, 飞行控制.本文通信作者.E-mail:zhangsj@nuaa.edu.cn

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Optimal Adaptive Output Tracking Control for a Class of Uncertain Nonlinear Systems With Actuator Failures

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目录

留言板

执行器故障不确定非线性系统最优自适应输出跟踪控制

doi: 10.16383/j.aas.2018.c170300

通讯作者: 张绍杰 南京航空航天大学自动化学院副教授.2009年获得南京航空航天大学自动化学院博士学位.主要研究方向为非线性系统控制, 容错控制, 飞行控制.本文通信作者.E-mail:zhangsj@nuaa.edu.cn

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出版历程

Optimal Adaptive Output Tracking Control for a Class of Uncertain Nonlinear Systems With Actuator Failures

计量

出版历程

目录

通讯作者:
张绍杰南京航空航天大学自动化学院副教授.2009年获得南京航空航天大学自动化学院博士学位.主要研究方向为非线性系统控制, 容错控制, 飞行控制.本文通信作者.E-mail:zhangsj@nuaa.edu.cn