执行器故障和规定的性能主动后退控制的设计
Baichun Bing1, Shizhang Zhong1, Dehui Li1
1State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, 400044, China; College of Mechanical and Vehicle Engineering, Chongqing University, Chongqing, 400044, China.
ISA transactions
|August 9, 2025
概括
本研究介绍了无人潜艇 (UUV) 的故障耐受性控制 (FTC) 系统,以处理执行器故障和干扰. 该系统确保稳定的轨迹跟踪,尽管系统的不确定性和输入限制.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 海洋技术 海洋技术
背景情况:
- 无人驾驶水下车辆 (UUV) 由于执行器故障,估计错误和外部干扰而面临运行挑战.
- 在这些条件下确保稳定的轨迹跟踪对于UUV任务的成功至关重要.
- 现有的控制系统可能无法充分解决诸如故障,和和规定的性能边界等综合问题.
研究的目的:
- 为UUVs设计一个强大的耐故障控制 (FTC) 系统.
- 开发一个有效的故障观察器来估计总故障效应.
- 为了实现稳定的轨迹跟踪,同时尊重系统约束和性能界限.
主要方法:
- 一个简化的故障观察器,使用辅助状态变量和线性矩阵不等式进行故障估计.
- 一个强大的活跃的FTC策略,采用障碍物Lyapunov功能和辅助系统.
- 适应性法律和后退设计集成用于控制器开发.
- 考虑执行器故障,估计错误,干扰,规定的边界和输入和.
主要成果:
- 故障观察器成功估计了UUV的总故障效应.
- 拟议的FTC控制器确保了稳定的轨迹跟踪.
- 该系统在规定的范围内展示性能,并有效地处理输入和.
- 模拟验证了观察者和控制者的可行性和有效性.
结论:
- 开发的FTC系统为在执行器故障和不确定性的情况下运行的UUV提供了强大的解决方案.
- 错误估计和主动控制的结合确保了可靠的性能和稳定性.
- 这种方法在具有挑战性的操作条件下有效地保持轨迹跟踪.
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