An LQ control based actuator failure compensation scheme for possibly nonminimum phase systems

Liyan Wen, G. Tao, Hao Yang
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引用次数: 1

Abstract

In this paper, an LQ control based actuator failure compensation control scheme is developed for possibly nonminimum phase systems with actuator failures. The failure compensation control problem is formulated as a new LQ control problem for systems with failure disturbances. A new disturbance rejection problem for systems with unmatched disturbances is solved through an LQ based control algorithm to ensure the maximum reduction of the disturbance effect on the system output. New controller structures and design conditions are derived using dynamic programming in the presence of actuator failures, and state feedback and observer-based feedback designs are presented. Simulation results are presented to verify the desired control system performance in the presence of actuator failures.
基于LQ控制的可能非最小相位系统致动器故障补偿方案
针对可能存在非最小相位系统的致动器故障,提出了一种基于LQ控制的致动器故障补偿控制方案。将失效补偿控制问题表述为具有失效扰动的系统的一个新的LQ控制问题。通过基于LQ的控制算法,解决了具有不匹配扰动的系统的扰动抑制问题,以保证扰动对系统输出的影响最大。在执行器失效的情况下,采用动态规划方法导出了新的控制器结构和设计条件,并提出了状态反馈和基于观测器的反馈设计。仿真结果验证了在执行器失效情况下控制系统的性能。
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