Research On Tolerance Control For Time-delay System Based On SMC

The development direction of modern control systems is large-scaling, complicating and networking. Due to high integration of modern systems, the remote control—wireless control, network control and so on—has been widely used in control systems, it sets high demands for the timeliness of control systems, so we can no longer ignore the influence of time delay. Because modern system is a complex composition, and need to run under different circumstances, this make it more likely that the system components will fail. So how to improve the security and reliability of systems is a key question that should be take into account by control engineer. The paper research the fault-tolerant control of time-delay systems based on sliding mode control, through the experiment on Qball-X4 quad-rotor half-physical simulation platform, the feasibility and validity has been shown.Firstly, introduce the research background, purposed and significance of this thesis, then the sliding mode control, fault-tolerant control and the stability analysis of time-delay systems are reviewed. An analysis of structure and forces for quad-rotor build the mathematical models of each control channel. Then the composition and main functions of Qball-X4 quad-rotor half-physical simulation platform has been elaborated.Secondly, an integrity control based on sliding mode control for is designed. An integral sliding surface with time-delay integral term is built, then a sufficient condition for asymptotically stable of the standard sliding mode in the form of LMIs. Combine the adaptive control, an adaptive switch control law is designed, which can make time-delay system asymptotically stable after actuator fault happens.Thirdly, consider the uncertainty and external disturbance, an sliding mode robust H? fault-tolerant control for time-delay system with actuator fault is designed, which satisfy the system stable and fulfill the H? performance index.Further, a novel adaptive sliding mode fault-tolerant control for time-delay uncertain systems with multi-faults is designed. A LMI characteristic sliding surface is given, then we design the adaptive sliding mode control law, so that the system can overcome the effects of uncertainties, time-delay and multi-fault, and remain asymptotic stable.Finally, the methods mentioned above are totally applied to the Qball-X4 quad-rotor half-physical simulation platform, and stimulation results verify the feasibility and validity.