Finite-Time Fault-Tolerant Control via Fully Actuated System Approaches
本文提出一种基于全驱动系统理论的有限时间容错控制器，用于系统稳定和轨迹跟踪，通过参数化控制器和有限时间观测器实现状态、故障和跟踪误差的有限时间收敛，适用于快速控制系统。
In this article, a finite-time fault-tolerant controller based on the fully actuated system (FAS) theory is presented to realize system stabilization and trajectory tracking. Paralleling to first-order nonlinear state space theory, the high-order FAS (HOFAS) theory contains rich controller design approaches. The existing FAS approaches can only give general global asymptotic stability results. In order to enhance the applicability of FAS approaches in fast control systems, a parameterized FAS stabilization controller based on the homogeneity principle is established for global finite-time stability. Moreover, a finite-time FAS tracking controller based on a finite-time observer is proposed for a HOFAS model with process faults. The proposed observer can yield zero-value convergence of state estimation error and fault estimation error in a finite time, and the proposed fault-tolerant controller can yield zero-value convergence of tracking error in a finite time. The main results are proved theoretically and illustrated experimentally.