基于未知输入观测器的非线性动态系统故障估计

doi:10.7527/S1000-6893.2015.0067

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基于未知输入观测器的非线性动态系统故障估计

胡正高^1,2, 赵国荣¹, 周大旺¹

1. 海军航空工程学院控制工程系, 烟台 264001;
2. 海军蚌埠士官学校, 蚌埠 233012

收稿日期:2014-11-13 修回日期:2015-03-06 出版日期:2015-11-15 发布日期:2015-12-08
通讯作者: 胡正高,Tel.:0535-5357373,E-mail:zghu001@163.com E-mail:zghu001@163.com
作者简介:胡正高,男,博士,讲师。主要研究方向:动态系统的故障诊断。Tel:0535-5357373,E-mail:zghu001@163.com;赵国荣,男,博士,教授,博士生导师。主要研究方向:动态系统的故障诊断与容错控制。Tel:0535-6635636,E-mail:GRZhao6881@163.com;周大旺,男,博士研究生。主要研究方向:动态系统的故障诊断。Tel:0535-5357371,E-mail:zhoudawang10@163.com
基金资助:
国家自然科学基金(61473306)

Fault estimation for nonlinear dynamical systems based on unknown input observer

HU Zhenggao^1,2, ZHAO Guorong¹, ZHOU Dawang¹

1. Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China;
2. Bengbu Naval Petty Officer Academy, Bengbu 233012, China

Received:2014-11-13 Revised:2015-03-06 Online:2015-11-15 Published:2015-12-08
Supported by:
National Natural Science Foundation of China (61473306)

摘要/Abstract

摘要：

针对一类受扰非线性动态系统的执行器故障估计问题,提出一种未知输入观测器来实现故障估计。首先,通过坐标变换将原系统转化为合适的形式;其次,采用线性矩阵不等式与Lyapunov泛函分别设计H_∞输出反馈控制器和未知输入观测器,在此基础上实现对系统中执行器故障的渐近估计;最后,通过机械臂系统仿真分析并验证了所提方法的有效性。与已有方法相比,所提方法不要求故障可导,也不要求故障或干扰上界已知,因此易于在工程实际中实现对非线性系统执行器故障的估计。

关键词: 非线性动态系统, 输出反馈, Lyapunov泛函, 线性矩阵不等式, 机械臂系统, 未知输入观测器, 故障估计

Abstract:

Actuator fault estimation for a class of nonlinear dynamical systems with disturbance is considered, and an unknown input observer is proposed to fulfill fault estimation. Firstly, the original nonlinear dynamical system is turned into appropriate form by the coordinate transformations. Secondly, an H_∞output feedback controller and an unknown input observer are designed by the linear matrix inequalities and the Lyapunov function respectively. Based on that, the actuator fault estimation for the system is achieved. Finally, simulation for manipulators is displayed to illustrate the effectiveness of the proposed method. Compared with the previous methods, the proposed method does not require that faults should be derivable and the upper bound of faults or disturbance is not necessarily required. The proposed method can be used to fulfill the actuator fault estimation for nonlinear dynamical systems in engineering practice easily.

Key words: nonlinear dynamical systems, output feedback, Lyapunov function, linear matrix inequalities, maniulators, unknown input observer, fault estimation

中图分类号:

V448
TP273

胡正高, 赵国荣, 周大旺. 基于未知输入观测器的非线性动态系统故障估计[J]. 航空学报, 2015, 36(11): 3687-3697.

HU Zhenggao, ZHAO Guorong, ZHOU Dawang. Fault estimation for nonlinear dynamical systems based on unknown input observer[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(11): 3687-3697.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于未知输入观测器的非线性动态系统故障估计

Fault estimation for nonlinear dynamical systems based on unknown input observer

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