The Satisfactory Co-design Between NCS Event-triggered Robust Fault-tolerant And Communication Under Non-uniform Transmission

In recent years,the fault-tolerant control research field of networked control system?NCS?has made outstanding progress,however,the case s of passive fault-tolerant control are more than the cases of passive fault-tolerant control,and the case s which study the fault-tolerant problem in isolation based on the time-triggered scheme are more than the cases which study the co-design between fault-tolerant and communication based on eventtriggered scheme.With the increasingly high requirements of system safety and network resource saving property for NCS which is as the integration of control and communication,there are still many new problems in NCS fault-tolerant control field,such as,how to realize the co-design between fault-tolerant estimation,fault-accommodation and network communication in active fault-tolerant control field of NCS,how to realize the co-design between robust fault-tolerant control and network communication in NCS with mult i-objective constraints,and how to make the design result with less conservativeness to balance the relationship between the non-uniform transmission period of discrete event-triggered communication scheme?DETCS?and system performance,and so on.Driven by these problems,the main researches of this thesis are as follows:1)Study the satisfactory co-design proble m between the robust passive fault-tolerant and network communication for unce rtain linear and nonlinear NCS with actuator saturation constraints.The uncertain closed-loop failure model was established for linear and nonlinear T-S fuzzy NCS based on DETCS and the model include excellent information,such as,actuator saturation constraint,network time-delay,event-triggered communication constraints and so on.The definition of ?-stability was extended to ?-safety for tolerant system,and the definitions of fault-tolerant attractive domain with ?-safety and the fault-tolerant contractive invariant set were proposed to deal with the fault-tolerant control problem for NCS with actuator saturation constraint.Based on Lyapunov stable theory and the improved Jensen inequality,the satisfactory co-design methods between robust passive fault-tolerant and network communication were derived for uncertain closed-loop failure NCS with mult i-objective constraints,such as,?-safety,?-safety and H_?-performance,?-safety and H_?/ H₂-performance.2)Under the non-uniform trans mission pe riod,study the satisfactory co-design proble m between passive robust fault-tole rant and network communication for unce rtain linear and nonlinear N CS with actuator saturation.The sampler and event generator were hypothesized to be the non-unniform sampling-switch in non-uniform transmission NCS.Furthermore,the non-uniform transmission problem was studied based on the theory of non-uniform sample system.Based on the new subdivision method of data transmission interval,the uncertain closed-loop failure model was built dedicatedly for linear and nonlinear T-S fuzzy NCS with actuator saturation constraints under non-uniform transmission period.Based on the discontinuous lyapunov stable theory,Wirtinger's inequality and linear convex combination theory,the satisfactory co-design methods between robust passive fault-tolerant and network communication were derived for uncertain closed-loop NCS with multi-objective constraints,such as,?-safety,?-safety and H_?-performance,?-safety and H_?/ H₂-performance.As the methods possess less conservativeness,it is easier to improve the co-design satisfaction between fault-tolerant and communication.3)Under the non-uniform trans mission pe riod,study the satisfactory co-design proble m between active fault-tole rant and network communication for linear and nonlinear NCS with actuator saturation constraint.The distributed implementation architecture was put forward to solve active fault-tolerant co-design problem.In the architecture,the estimation of state and fault,the control and accommodation are located in the smart sensor and controller respectively to be implemented in distributed way.Based on the time-triggered observer under the equal physical sampling period and the event-triggered controller under the virtual non-uniform sampling period,the closed-loop failure model was established for liner and nonlinear T-S fuzzy NCS.Based on Lyapunov stable theory and linear convex combination theory,firstly the generalized H_?estimation method of state and failure was presented by adopting continuous time observer under equal physical sampling period.Furthermore,under the non-uniform transmission period,the satisfactory co-design methods between active fault-tolerant and network communication were presented for closed-loop failure NCS with a-stability,a-stability and H_?-performance,a-stablity and the generalized H_?/ H₂-performance by adopting output feedback control law.4)Study the effectiveness,compatibility and conservative ness of the theoretical results in 1)³)to ve rify the validity of results.Reveal the qualitative compromise principle which is suitable for the co-design between fault-tole rant and network communication,and explore the quantitative selection basis of event-trigge red parameter.The correctness and effectiveness of the theoretical results is verified by some classical examples.The qualitative relationships with repulsion compatibility were revealed for fault-tolerant control,network communication and different system performance by carrying out lots of simulation experiment.Furthermore,the relationship between event-triggered parameter ? and data transmission ratio n_s was explored deeply.The quantitative mathematical expression for ?-n_s was put forward through data fitting,so it provides the quantitative selection basis of ? for the NCS co-design between fault-tolerant and communication under the constraint of given network communication resource.5)Establis h the passive fault-tole rant and active fault-tolerant experime ntal platform for NCS with actuator saturation to do the expe rimental study of the co-design theory proposed in the paper.With the help of software interface standard of industrial sectors?OLE for Process Control,OPC?and the existing equipment of the Advanced Control Laboratory,the passive fault-tolerant control experimental platform was built based on the campus local network for NCS with actuator saturation constraint under DETCS.In terms of distributed implementation concept for estimation,control and accommodation,the related active fault-tolerant experimental platform was established under DETCS.The engineering usability verification and analysis were carried out for the co-design method of passive fault-tolerant and active fault-tolerant,and the results is consistent with the stand alone version simulation.