H₂/H_? Infinity Reliable Tracking Control Based On Actuator Failure

With the main position of large machines in industrial production,people gradually have higher requirements for the safety and stability of the machine.Therefore,the study of reliable control is particularly important and attracts the attention of some scholars.In order to ensure the normal and orderly conduct of industrial production,a better reliable controller is to be studied.Reliable control is able to design a corresponding controller under the premise of considering the possible faults of the control system.This controller can make the control system whether it fails or not,which can ensure the normal operation of the control system.In recent years,the research of reliable control has become increasingly mature,but with the advent of the computer age,people found in some of the precision machine controller requirements continue to improve,not only requires the system has good stability but also need it has some other good characteristics,research in recent years the researchers found closely related parts some properties of systems and its H₂/H_? control index.In the actual system,most of the control systems are closed loop systems composed of feedback structures.The feedback system can not only suppress the fluctuation of the internal parameters of the control system,but also inhibit the change of the external environment of the system.The type of feedback consists of three types:state feedback,dynamic output feedback,and static output feedback.State feedback is a feedback form based on the state variables of the control state of the system as feedback.In the actual control system,disturbance rejection and tracking control are widely existed.The missile torpedo,radar,navigation,robot and so on are the typical examples of tracking control.The problem of tracking control and disturbance rejection is mainly considering the reference input of the system and the external reference signal.Tracking control is mainly to study the influence of external interference on the related performance of the system or to track the external reference signal with no static difference in the system output.The main content of this paper is to study the H₂/H_? infinity reliable tracking control problem of the system on the basis of the actuator fault model of the control system.The first chapter introduces the development of reliable control,H₂/H_? infinity performance,tracking control and linear matrix inequalities.The second chapter of the basic knowledge of mathematics introduces some related concepts and basic lemmas.In the third chapter,the state feedback reliable tracking controller is designed when the sensilla fault occurs in a linear system.The controller can meet the H₂ performance index,and the feasibility is verified by a simulation example.In the fourth chapter,we consider the design principle of a state feedback reliable tracking controller which can satisfy the H_? performance index when we consider the fault of a linear system,and verify it.The fifth chapter studies the design principle and simulation example of state feedback reliable tracking controller which can satisfy H₂/H_?'s performance index when the system executor fails.The controller designed in this paper can make the system able to resist the fault of the sensor and have corresponding performance indicators,so that the system has good characteristics.