Fault-tolerant Control Of A Nonlinear System Actuator Fault Based On Sliding Mode Control

Higher requirements on reliability and safety are put forward by the large-scale complex development trend of modern engineering system.Huge losses of personnel and property would be caused in case of the occurrence of the accident.In the control system,the actuator is the most prone to failure due to its work complexity.In the case of some parts of the system failure,the fault-tolerant control technology through the fault detection and isolation or system reconstruction,adjust the controller's control law and other means to ensure the system can continue to operate safely and reliably to achieve the expected performance indicators.Therefore,it is of great significance to study the fault-tolerant control of system actuator failure.Based on the theory of Lyapunov stability and the theory of sliding mode variable structure control,this paper studied a class of nonlinear systems with actuator faults and unknown input disturbances.In order to improve the robustness of the system,to maintain high reliability and safety performance and other aspects,this paper carried out in-depth study from a single controlled system fault-tolerant tracking control to multi-controlled system collaborative fault-tolerant control.The main research work of this paper is as follows:By searching and analyzing amounts of research papers,we summarize and conclude the development status of fault tolerance control field and its application in actuator failure.And the significance of this paper and the key problems that need to be solved further are pointed out.A fault-tolerant control scheme based on sliding mode is proposed for a class of nonlinear systems with actuator faults and unknown input disturbances,to solve the fault-tolerant tracking control problem of failure system.This method can detect,isolate and estimate the fault,and can obtain the fault information,which can compensate the influence caused by the fault,and realize the fault tolerance and robustness of the fault and disturbance.It has a strong engineering reference value.A fault-tolerant control scheme based on ring coupling is proposed for a class of multi-robot systems with actuator faults,to solve the faulttolerance and synchronization control problem of multi-robot system.This method can obtain the fault information and restrain the influence of the fault,so that the multi-robot system not only has good tracking performance,but also has high synchronization performance.The simulation results verify the effectiveness of the proposed method.