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个人信息Personal Information
教授
硕士生导师
性别:男
毕业院校:哈尔滨工业大学
学位:博士
所在单位:控制科学与工程学院
办公地点:大连理工大学海山楼B613
联系方式:大连理工大学海山楼B613
电子邮箱:wanghw@dlut.edu.cn
Switching adaptive compensation for actuator failures of uncertain nonlinear systems with quantized input
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论文类型:会议论文
发表时间:2018-01-01
收录刊物:CPCI-S
卷号:2018-July
页面范围:614-619
关键字:Actuator failures; adaptive compensation; input quantization; switching control; uncertain nonlinear systems
摘要:This paper investigates the adaptive compensation for an uncertain nonlinear system with actuator failures and input quantization. A new switching fault-tolerant controller is proposed based on the dwell time bounded by the minimal time length before total loss of effectiveness (TLOE) of an actuator group and the maximal time length spending for an actuator group recovering from TLOE mode. By estimating the infimum of the fault parameters for all active times, the fault for each actuator is allowed to appear infinite many times. The boundedness of the (adjustable) jump size of Lyapunov functions for different actuator groups at switching instants is guaranteed by exploiting the parameter projection operator. Under the designed controller and switching signal, the output tracking error of the system can be driven to a tunable neighborhood of the origin. The proposed method is validated by a numerical example at last.