基于反馈线性化的主动容错控制器设计

针对一类满足Lipschitz条件的非线性系统,基于反馈线性化提出了一种主动容错控制方法,并将其应用到了某机器人系统中.仿真表明,在故障发生时,容错控制器不仅能够保持闭环系统的稳定性,而且能够有效地补偿故障对输出的影响,因此输出依然能够对参考输入具有较好的跟踪性能.

Active Fault-tolerant Controller Design Based on Feedback Linearization

For a class of nonlinear systems which satisfy Lipschitz condition, an active fault-tolerant control scheme was presented based on the feedback linearization and then applied to a robot system. The simulation demonstrates that, when the fault occurs the fault-tolerant controller not only can maintain the stability of the closed-loop system but also can compensate effectively the influence caused by the fault. So the output can still track the reference input well.