一类执行器偏移/卡死故障下的自适应容错控制

研究执行器故障下的连续时不变线性系统主动容错控制问题．考虑执行器部分失效和偏移／卡死故障，并假设偏移／卡死故障可以被分为状态依赖时变部分和常值偏移部分，且状态依赖权值和常值偏移量未知．设计自适应律在线故障执行器失效因子和状态依赖权重与常值偏移／卡死量，并基于自适应估计值构造状态反馈控制增益方程补偿故障带来的影响．通过李亚普诺夫第二稳定性定理，证明所提出的自适应容错控制策略能够保证系统在执行器故障情况下渐近稳定．最后，通过数值实例显示了该方法的有效性．

Adaptive Fault-tolerant Control with a Class of Actuator Bias/Stuck Faults

An active fault-tolerant control problem of continuous-time linear invariant control systems with actuator faults is studied. The faults of losing of effectiveness and actuator-bias/stuck are considered, and the bias faults are assumed to be divided into two parts, that is, the time-varying state-dependence part and constant-bais/stuck part, where the dependency weight and constant values are unknown. Then, some adaptive laws are designed to estimate the unkown effency factors and dependency weight and constant values, and simultaneously, a state-feedback control function is constructed based on the estimations to compensate for the effects of actuator faults. Based on Lyapunove stability theory, it is proved that the proposed adaptive control strategy can guarantee the asymptotic stability of systems even in the cases of actuator faults. A numerical example is given to demonstrate the effectiveness of the proposed method.