Auxiliary Fault Tolerant Control With Actuator Amplitude Saturation and Limited Rate
针对线性时不变系统在执行器故障和饱和下的跟踪控制问题，设计辅助系统确保执行器在幅值和速率限制内工作，并构建容错补偿控制器使跟踪误差收敛到小区域，以船舶航向保持为例验证有效性。
In this paper, the problem of fault tolerant tracking control for a linear time-invariant system subject to actuator faults and saturations is addressed. An auxiliary system is developed to ensure actuators behave within amplitude and rate limits under the influence of partial loss of control effectiveness. Based on the auxiliary system, a fault tolerant compensation controller is constructed to guarantee tracking errors to converge to a small region. Some relationships among tracking errors, command signals, actuator faults, amplitude and rate limits as well as controller parameters are comprehensively studied and explicitly illustrated with formulas. An example of rudder-roll damping control for a cruise keeping ship is included to illustrate the proposed procedures and their effectiveness.