Fault Tolerant Control For Large-Scale Lower Triangular Nonlinear Systems

In the field of control theory,the related research of large-scale lower triangular nonlinear systems occupy important positions.There are many methods to explore large-scale lower triangular nonlinear systems,and the newly proposed gain con-trol method provides a new research idea for the exploration of large-scale lower triangular nonlinear systems.Due to the complexity and diversity of natural phe-nomena,in many practical cases,the actuator of the system will inevitably face a variety of uncertainties or external disturbances,resulting in actuator energy can not be correctly applied to the system.Based on the static gain method,the fault tolerant control problem for a class of large-scale lower triangular nonlinear systems(with actuator failure)is studied.The research results further promote the related research progress of large-scale lower triangular nonlinear systems.The main contents can be summarized as follows.·The static gain technique is applied to a class of lower triangular nonlinear systems with single input single output to study the actuator fault problem.Employing static gain technique,a class of lower triangular nonlinear systems with single input single output are transformed into auxiliary systems whose Lyapunov function can be easily found.Then,an effective adaptive estimation strategy is designed to process the fault parameters of the actuator,and then a state feedback fault-tolerant control strategy with hyperbolic function is used to achieve the control objective of ensuring that all closed-loop signals are globally bounded.The research of this part plays a theoretical support role for the main body of this thesis.·The static gain technique is applied to a class of large-scale lower triangular nonlinear systems,and the fault-tolerant tracking control problem is studied when actuator failures are allowed.The exploration in this part is inspired by the existing research foundation of fault-tolerant control of lower triangular nonlinear systems with single input single output.By introducing a coordinate transformation with tracking signal information utilizing static gain technolo-gy,the large-scale lower triangular nonlinear systems studied are transformed into auxiliary systems that are easy to process.Besides,it is proved that the proposed control strategy can achieve the fault-tolerant control objectives of large-scale lower triangular nonlinear systems with bounded disturbances.The effectiveness of the fault-tolerant tracking control strategy is verified by a sim-ulation example of the Machine Tool Feed System.This part of the study has a connecting role.·In order to reduce the information transmission burden of the control signal input and maintain the good performance of the systems,the control idea of event-triggered is added to the fault-tolerant tracking control strategy for large-scale lower triangular nonlinear systems.It is proved that the event triggering mechanism designed by hyperbolic function can effectively avoid the occur-rence of Zeno-behaviour.Similarly,the effectiveness of the proposed control strategy is verified by a simulation example of the Machine Tool Feed System.