Research On Adaptive Fault-Tolerant Tracking Control Based On Closed-Loop Reference Model

With the development of science and technology and the continuous improvement of people's demands for material life,the control system becomes more and more complex,and many components of the system might be suffered from faults.These faults can lead to system performance degradation or even system instability resulting in catastrophic accidents.In order to ensure the safety and reliability of system under the condition of long time and high load,it is important to design an effective controller to tolerant the failure.This paper addressed the robust adaptive fault-tolerant tracking control problem based on the closed-loop reference model for linear system.By introducing the closed-loop reference model,the effect of the fault on the transient performance of the system can be reduced,an adaptive fault-tolerant control method is proposed to robust track the closed-loop reference model.The research background and research status is introduced in the first chapter.Some lemmas and definitions are presented in the second chapter,which will be used in this article.In the third chapter,we address the robust adaptive fault-tolerant tracking control design problem for linear systems subject to parameter uncertainty,external disturbance and actuator faults.Loss of effectiveness,outage and stuck are all taken into account.According to the obtained online parameter estimation information provided by adaptive module,a fault-tolerant compensator controller is constructed for robust tracking the closed-loop reference model systems.By introducing the closed loop reference model which provides the additional degree-of-freedom,the effect of the fault on the transient performance of the system can be reduced.It is shown that the signals of the resulting closed-loop systems are bounded and the tracking error converges to zero asymptotically.A simulation is provided to verify the effectiveness of the propossed adaptive fault-tolerant tracking controller in this chapter.Chapter 4 address the output feedback robust adaptive fault-tolerant tracking control problem for a class of linear system with disturbance and constant actuator fault.In order to reduce the influence of actuator fault on the transient performance of the system,the closed loop reference model with the additional design freedom is introduced.Based on the relationship between input matrix and fault matrix,the equality constraint in the traditional adaptive fault estimation is removed.According to the online estimation information provided by adaptive module,a fault-tolerant controller is designed to guarantee the asymptotic stability and the H? performance of the tracking error system in the presence of external diaturbance and constant actuator fault.It is shown that the signals of the resulting closed-loop systems are bounded and the tracking error converges to zero asymptotically when disturbance is zero.A simulation result is provided by to demonstrate the efficacy of the proposed output feedback robust adaptive fault-tolerant tracking control method.The fifth chapter is consistent with the thought in the previous chapter.In this chapter,the output feedback adaptive fault-tolerant tracking control problem for a class of linear system with time-varying actuator fault and external disturbance is studied.By introducing the closed-loop reference model,the fault on the transient performance of the tracking error system can be mitigated.Based on the relationship between input matrix and fault matrix,the equality constraint in the traditional adaptive fault estimation is removed.The closed-loop feedback gain is obtained by solving LMIs,according to the online estimation information,the output feedback adaptive fault-tolerant control method is proposed to ensure all the signals of the resulting closed-loop systems are bounded.A simulation result is given to verify the efficacy of the proposed control strategy.At last,conclusions and further research directions are given in the sixth chapter.