Fault-Tolerant Control of Stochastic High-Order Fully Actuated Systems
针对随机高阶全驱动系统，提出了一种考虑随机信号的新模型，并设计了等效控制和镇定控制律以实现全局渐近稳定，同时针对传感器增益故障设计了基于观测器的容错控制方案。
In recent years, high-order fully actuated (HOFA) systems, founded by Prof. GR Duan, have recorded rapid progress for deterministic systems. However, the control issue of stochastic fully actuated systems is still an open problem. This study develops a novel stochastic HOFA system model that complements the existing HOFA methodology. Notably, stochastic signals can be considered in the proposed model, different from the case in the deterministic model. By adopting a high-order operator, equivalent control and stabilization control laws are realized to guarantee the global asymptotic stability in probability of the closed-loop system. For the system with sensor gain faults, an observer-based fault-tolerant control law is designed. Finally, the simulation results validate the effectiveness of the proposed control schemes.