切换模糊系统的故障估计与容错控制

This project will address the problems of fault estimation and fault-tolerant control for switched fuzzy systems. Switched fuzzy systems are with the characteristics of switched systems and fuzzy systems simultaneously, and have important theoretical significance and practical application value. However, the studies on fault estimation and fault-tolerant control for switched fuzzy systems remain preliminary. Under such a background, this project will address the following problems for switched fuzzy systems with actuator fault and sensor fault: 1. A novel fault estimation observer with an adaptive compensator is constructed, which can estimate the actuator fault and sensor fault simultaneously. The designed compensator can compensate the harmful effects of the actuator fault’s derivative on estimation results. 2. Based on the fault estimation, the fault-tolerant controller with a fault compensator is designed, which can ensure that the systems remain stable for the case that there are faults in the systems. 3. For the case that the systems are affected by the external disturbance input, which is with unknown dynamic and does not satisfy the bounded energy condition, the fault estimation observer and adaptive disturbance observer are designed to estimate the faults and the disturbance simultaneously, which can reduce the influence of the disturbance input on fault estimation results. The estimation information is used to design the fault-tolerant anti-disturbance controller to stabilize the switched fuzzy systems. This project can enrich the existing fault estimation and fault-tolerant control theories, and can provide useful references for the safe operation of the system.

本项目研究切换模糊系统的故障估计与容错控制问题。切换模糊系统同时继承了切换系统和模糊系统的特点，具有重要的理论意义和实际应用价值，但关于切换模糊系统的故障估计与容错控制的研究尚处于起步阶段。基于此，本项目针对同时具有执行器故障和传感器故障的切换模糊系统，研究以下内容：1.构造具有自适应补偿器的新型故障估计观测器，同时估计执行器故障和传感器故障，通过设计补偿器，补偿执行器故障的导数对估计结果的不良影响。2.在故障估计的基础上，设计具有故障补偿器的容错控制器，确保系统在发生故障的情况下仍能保持稳定。3.针对系统受到不满足能量有界条件并且动态未知的外部干扰影响的情况，通过设计故障估计观测器和自适应干扰观测器，同时估计系统中的故障和干扰，降低干扰输入对故障估计结果的影响；进一步利用估计的信息，设计容错抗干扰控制器镇定系统。该项研究可以丰富现有的故障估计与容错控制理论，为系统的安全运行提供有益借鉴。

切换模糊系统同时继承了切换系统和模糊系统的特点，具有重要的理论意义和实际应用价值，但是关于切换模糊系统的故障诊断与容错控制的研究还相对比较有限。在本项目的资助下，项目组在切换模糊系统的故障估计与容错控制领域，取得了一系列研究成果：提出了新型故障估计方案，有效地降低了执行器故障导数对估计结果的影响，提高了估计精度，增强了设计的灵活性；利用估计的状态、故障信息，以故障补偿为基础，提出了基于观测器的容错控制方案；针对系统受到多源异构的干扰、噪声的影响，并且同时发生执行器故障、传感器故障的情况，综合考虑干扰解耦、干扰抑制、干扰估计与补偿，提出故障、干扰协同估计以及容错抗干扰控制方案；为了避免故障估计误差对系统状态的影响，提出了基于一步LMI的故障估计与容错控制的集成设计方法。在该项目的支持下，项目组在IEEE TFS， IEEE TII，IEEE SMC-Systems 等期刊(或会议)发表论文26篇，其中SCI检索论文23篇。相应研究成果受到国内外专家学者的高度认可和积极评价。