One of the detection objectives of the Chinese Asteroid Exploration mission is to investigate the space environment near the Main-belt Comet(MBC,Active Asteroid)311P/PANSTARRS.This paper outlines the scientific object...One of the detection objectives of the Chinese Asteroid Exploration mission is to investigate the space environment near the Main-belt Comet(MBC,Active Asteroid)311P/PANSTARRS.This paper outlines the scientific objectives,measurement targets,and measurement requirements for the proposed Gas and Ion Analyzer(GIA).The GIA is designed for in-situ mass spectrometry of neutral gases and low-energy ions,such as hydrogen,carbon,and oxygen,in the vicinity of 311P.Ion sampling techniques are essential for the GIA's Time-of-Flight(TOF)mass analysis capabilities.In this paper,we present an enhanced ion sampling technique through the development of an ion attraction model and an ion source model.The ion attraction model demonstrates that adjusting attraction grid voltage can enhance the detection efficiency of low-energy ions and mitigate the repulsive force of ions during sampling,which is influenced by the satellite's surface positive charging.The ion source model simulates the processes of gas ionization and ion multiplication.Simulation results indicate that the GIA can achieve a lower pressure limit below 10-13Pa and possess a dynamic range exceeding 10~9.These performances ensure the generation of ions with stable and consistent current,which is crucial for high-resolution and broad dynamic range mass spectrometer analysis.Preliminary testing experiments have verified GIA's capability to detect gas compositions such as H2O and N2.In-situ measurements near 311P using GIA are expected to significantly contribute to our understanding of asteroid activity mechanisms,the evolution of the atmospheric and ionized environments of main-belt comets,the interactions with solar wind,and the origin of Earth's water.展开更多
For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control m...For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control method for quadcopter to multi-copter with more than four rotors.Without relying on rotor fault information,this method is able to stabilize the multicopter with multiple rotor failures,which is validated on the hexacopter and octocopter using the hardware-in-the-loop simulations.Addi-tionally,the hardware-in-the-loop simulations demonstrate that a more significant tilt angle in flight will inhibit the maximum tolera-ble number of rotor failures of a multicopter.The more signifi-cant aerodynamic drag moment will make it difficult for the mul-ticopter to regain altitude control after rotor failure.展开更多
This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant forma...This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.展开更多
An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed.The two chief ways in which the system performance can degrade following an actuator-fault are unde...An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed.The two chief ways in which the system performance can degrade following an actuator-fault are undesirable transients and unacceptably large steady-state tracking errors.Adaptive control based schemes can achieve good final tracking accuracy in spite of change in system parameters following an actuator fault,and robust control based designs can achieve guaranteed transient response.However,neither adaptive control nor robust control based fault-tolerant designs can address both the issues associated with actuator faults.In the present work,an adaptive robust fault-tolerant control scheme is claimed to solve both the problems,as it seamlessly integrates adaptive and robust control design techniques.Comparative simulation studies are performed using a nonlinear hypersonic aircraft model to show the effectiveness of the proposed scheme over a robust adaptive control based faulttolerant scheme.展开更多
Active fault-tolerant control is investigated for a class of uncertain SISO nonlinear flight control systems based on the adaptive observer, feedback linearization and backstepping theory.Firstly an adaptive observer ...Active fault-tolerant control is investigated for a class of uncertain SISO nonlinear flight control systems based on the adaptive observer, feedback linearization and backstepping theory.Firstly an adaptive observer is constructed to estimate the fault in the faulty system.A new fault updating law is presented to simplify the assumption conditions of the adaptive observer.The asymptotical stability of the observer and the uniform ultimate boundedness of the fault estimation error are guaranteed by Lyapunov theorem.Then a backstepping-based active fault-tolerant controller is designed for the faulty system.The asymptotical stability of the closed-loop system and uniform ultimate boundedness of the tracking error are proved based on Lyapunov theorem.The effectiveness of the proposed scheme is demonstrated through the numerical simulation of a flight control system.展开更多
In order to take full advantage of federated filter in fault-tolerant design of integrated navigation system, the limitation of fault detection algorithm for gradual changing fault detection and the poor fault toleran...In order to take full advantage of federated filter in fault-tolerant design of integrated navigation system, the limitation of fault detection algorithm for gradual changing fault detection and the poor fault tolerance of global optimal fusion algorithm are the key problems to deal with. Based on theoretical analysis of the influencing factors of federated filtering fault tolerance, global fault-tolerant fusion algorithm and information sharing algorithm are proposed based on fuzzy assessment. It achieves intelligent fault-tolerant structure with two-stage and feedback, including real-time fault detection in sub-filters, and fault-tolerant fusion and information sharing in main filter. The simulation results demonstrate that the algorithm can effectively improve fault-tolerant ability and ensure relatively high positioning precision of integrated navigation system when a subsystem having gradual changing fault.展开更多
The initial motivation of the lifting technique is to solve the H∞control problems. However, the conventional weighted H∞design does not meet the conditions required by lifting, so the result often leads to a misjud...The initial motivation of the lifting technique is to solve the H∞control problems. However, the conventional weighted H∞design does not meet the conditions required by lifting, so the result often leads to a misjudgement of the design. Two conditions required by using the lifting technique are presented based on the basic formulae of the lifting. It is pointed out that only the H∞disturbance attenuation problem with no weighting functions can meet these conditions, hence, the application of the lifting technique is quite limited.展开更多
Implementing a control system over a communication network induces inevitable time delays that may degrade performance and even cause instability. One of the most effective ways to reduce the negative effect of delays...Implementing a control system over a communication network induces inevitable time delays that may degrade performance and even cause instability. One of the most effective ways to reduce the negative effect of delays on the performance of networked control system (NCS) is to reduce network traffic. In this paper, adjustable deadbands are explored as a solution to reduce network traffic in NCS. A method of fault-tolerant control of networked control system is presented, which takes into account system response as well as network traffic. The integrity design for a kind of NCS with sensor failures and actuator failures is analyzed based on robust fault-tolerant control theory and information scheduling. After detailed theoretical analysis, the paper also provides the simulation results, which further validate the proposed scheme.展开更多
A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures an...A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures and actuators failures was analyzed using hybrid systems technique based on the robust fault-tolerant control theory. The parametric expression of controller is given based on the feasible solution of linear matrix inequality. The simulation results are provided on the basis of detailed theoretical analysis, which further demonstrate the validity of the proposed schema.展开更多
Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant co...Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.展开更多
The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is...The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.展开更多
The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertai...The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertainties existing in both the state and control input matrices.Based on a more practical and general model of actuator continuous gain failures,taking the transient property,robust behaviour on H∞ performance and quadratic cost performance requirements into consideration,sufficient conditions for the existence of satisfactory fault-tolerant controller are given and the effective design steps with constraints of multiple performance indices are provided.Meanwhile,the consistency of the regional pole index,H∞ norm-bound constraint and cost performance indices is set up for fault-tolerant control.A simulation example shows the effectiveness of the proposed method.展开更多
An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D tec...An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D technique is employed to handle this problem.An acceleration tracking system is formulated based on the nonlinear dynamics of agile missile.Considering the dynamics of actuators,there is an error between actual input and computed input.A robust control problem is formed by treating the error as input uncertainty.The robust control is equivalent to a nonlinear quadratic optimal control of the nominal system with a modified performance index including uncertainty bound.Theta-D technique is applied to solve the nonlinear optimal control problem to obtain the final control law.Numerical results show the effectiveness and robustness of the proposed strategy.展开更多
A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design. Augmented state matrix analysis method is introduced...A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design. Augmented state matrix analysis method is introduced, and robust fault-tolerant control problem of networked control systems with noise disturbance under actuator failures is studied. The parametric expression of the controller under actuator failures is given. Furthermore, the result is analyzed by simulation tests, which not only satisfies the networked control systems stability, but also decreases the data information number in network channel and makes full use of the network resources.展开更多
In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,non...In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.展开更多
On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine...On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.展开更多
The cross-efficiency evaluation method is reviewed which is developed as a data envelopment analysis （DEA） extensive tool. The cross-efficiency evaluation method is utilized to identify the decision making unit （DM...The cross-efficiency evaluation method is reviewed which is developed as a data envelopment analysis （DEA） extensive tool. The cross-efficiency evaluation method is utilized to identify the decision making unit （DMU） with the best practice and to rank the DMUs by their respective cross-efficiency scores. The main drawbacks of the cross-efficiency evaluation method when the ultimate average cross-efficiency scores are used to evalu- ate and rank the DMUs are also pointed out. With the research gap, an improved technique for order preference by similarity to ideal solution （TOPSIS） is introduced to rank the crossfficiency by eliminating the average assumption. Finally, an empirical example is illustrated to examine the validity of the proposed method.展开更多
Based on the nonlinear failure criterion and the upper bound theorem, the modified tangential technique method was proposed to derive the expression of supporting pressure acting on shallow tunnel. Instead of the same...Based on the nonlinear failure criterion and the upper bound theorem, the modified tangential technique method was proposed to derive the expression of supporting pressure acting on shallow tunnel. Instead of the same stress state, different normal stresses on element boundaries were used. In order to investigate the influence of different factors on supporting pressures, the failure mechanism was established. The solution of supporting pressure, with different parameters, was obtained by optimization theory. The corresponding failure mechanism and numerical results were presented. In comparison with the results using the single tangential technique method, it is found that the proposed method is effective, and the good agreement shows that the present solution of supporting pressure is reliable.展开更多
Methods that can efficiently model the effects of rock joints on rock mass behavior can be beneficial in rock engineering. The suitability of equivalent rock mass(ERM) technique based upon particle methods is investig...Methods that can efficiently model the effects of rock joints on rock mass behavior can be beneficial in rock engineering. The suitability of equivalent rock mass(ERM) technique based upon particle methods is investigated. The ERM methodology is first validated by comparing calculated and experimental data of lab triaxial compression test on a set of cylindrical rock mass samples, each containing a single joint oriented in various dip angles. The simulated results are then used to study the stress-strain nonlinearity and failure mechanism as a function of the joint dip angle and confining stress. The anisotropy and size effects are also investigated by using multi-scale cubic ERM models subjected to triaxial compression test. The deformation and failure behavior are found to be influenced by joint degradation, the micro-crack formation in the intact rock, the interaction between two joints, and the interactions of micro-cracks and joints.展开更多
The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear m...The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear matrix inequality （LMI）. This approach has the advantages of both H∞ control and MPC： the robustness and ability to handle constraints explicitly. The robust closed-loop stability of the linear uncertain system with input and output constraints is proven under an actuator and sensor faults condition. Finally, satisfactory results of simulation experiments verify the validity of this algorithm.展开更多
基金Supported by the National Natural Science Foundation of China(42474239,41204128)China National Space Administration(Pre-research project on Civil Aerospace Technologies No.D010301)Strategic Priority Research Program of the Chinese Academy of Sciences(XDA17010303)。
文摘One of the detection objectives of the Chinese Asteroid Exploration mission is to investigate the space environment near the Main-belt Comet(MBC,Active Asteroid)311P/PANSTARRS.This paper outlines the scientific objectives,measurement targets,and measurement requirements for the proposed Gas and Ion Analyzer(GIA).The GIA is designed for in-situ mass spectrometry of neutral gases and low-energy ions,such as hydrogen,carbon,and oxygen,in the vicinity of 311P.Ion sampling techniques are essential for the GIA's Time-of-Flight(TOF)mass analysis capabilities.In this paper,we present an enhanced ion sampling technique through the development of an ion attraction model and an ion source model.The ion attraction model demonstrates that adjusting attraction grid voltage can enhance the detection efficiency of low-energy ions and mitigate the repulsive force of ions during sampling,which is influenced by the satellite's surface positive charging.The ion source model simulates the processes of gas ionization and ion multiplication.Simulation results indicate that the GIA can achieve a lower pressure limit below 10-13Pa and possess a dynamic range exceeding 10~9.These performances ensure the generation of ions with stable and consistent current,which is crucial for high-resolution and broad dynamic range mass spectrometer analysis.Preliminary testing experiments have verified GIA's capability to detect gas compositions such as H2O and N2.In-situ measurements near 311P using GIA are expected to significantly contribute to our understanding of asteroid activity mechanisms,the evolution of the atmospheric and ionized environments of main-belt comets,the interactions with solar wind,and the origin of Earth's water.
基金supported by the National Natural Science Foundation of China(61973015).
文摘For the multicopter with more than four rotors,the rotor fault information is unobservable,which limits the applica-tion of active fault-tolerant on multicopters.This paper applies an existing fault-tolerant control method for quadcopter to multi-copter with more than four rotors.Without relying on rotor fault information,this method is able to stabilize the multicopter with multiple rotor failures,which is validated on the hexacopter and octocopter using the hardware-in-the-loop simulations.Addi-tionally,the hardware-in-the-loop simulations demonstrate that a more significant tilt angle in flight will inhibit the maximum tolera-ble number of rotor failures of a multicopter.The more signifi-cant aerodynamic drag moment will make it difficult for the mul-ticopter to regain altitude control after rotor failure.
基金supported by the Natural Science Foundation of China(61101004 61803014)
文摘This paper studies time-varying fault-tolerant formation tracking problems for the multiple cruise missile system under directed topologies subjected to actuator failures. Firstly, the timevarying fault-tolerant formation tracking process for the multiple cruise missile system is divided into the guidance loop and the control loop. Then protocols are constructed to accomplish distributed fault-tolerant formation tracking in the guidance loop with the adaptive updating mechanism, in the condition where neither the knowledge about actuator malfunctions nor any global information of the communication topology remains available. Moreover, sufficient conditions to accomplish formation tracking are presented, and it is shown that the multiple cruise missile system can carry on the predefined time-varying fault-tolerant control (FTC) formation tracking through the active disturbances rejection controller (ADRC) and the proportion integration (PI) controller by the way of the fault-tolerant protocol utilizing the designed strategies, in the event of actuator failures. At last, numerical analysis and simulation are designed to verify the theoretical results.
基金supported by the US National Science Foundation (CMMI-1052872)the Ministry of Education of China
文摘An adaptive robust approach for actuator fault-tolerant control of a class of uncertain nonlinear systems is proposed.The two chief ways in which the system performance can degrade following an actuator-fault are undesirable transients and unacceptably large steady-state tracking errors.Adaptive control based schemes can achieve good final tracking accuracy in spite of change in system parameters following an actuator fault,and robust control based designs can achieve guaranteed transient response.However,neither adaptive control nor robust control based fault-tolerant designs can address both the issues associated with actuator faults.In the present work,an adaptive robust fault-tolerant control scheme is claimed to solve both the problems,as it seamlessly integrates adaptive and robust control design techniques.Comparative simulation studies are performed using a nonlinear hypersonic aircraft model to show the effectiveness of the proposed scheme over a robust adaptive control based faulttolerant scheme.
基金supported by the National Natural Science Foundation of China (60574083)
文摘Active fault-tolerant control is investigated for a class of uncertain SISO nonlinear flight control systems based on the adaptive observer, feedback linearization and backstepping theory.Firstly an adaptive observer is constructed to estimate the fault in the faulty system.A new fault updating law is presented to simplify the assumption conditions of the adaptive observer.The asymptotical stability of the observer and the uniform ultimate boundedness of the fault estimation error are guaranteed by Lyapunov theorem.Then a backstepping-based active fault-tolerant controller is designed for the faulty system.The asymptotical stability of the closed-loop system and uniform ultimate boundedness of the tracking error are proved based on Lyapunov theorem.The effectiveness of the proposed scheme is demonstrated through the numerical simulation of a flight control system.
基金supported by the National Natural Science Foundationof China (60902055)
文摘In order to take full advantage of federated filter in fault-tolerant design of integrated navigation system, the limitation of fault detection algorithm for gradual changing fault detection and the poor fault tolerance of global optimal fusion algorithm are the key problems to deal with. Based on theoretical analysis of the influencing factors of federated filtering fault tolerance, global fault-tolerant fusion algorithm and information sharing algorithm are proposed based on fuzzy assessment. It achieves intelligent fault-tolerant structure with two-stage and feedback, including real-time fault detection in sub-filters, and fault-tolerant fusion and information sharing in main filter. The simulation results demonstrate that the algorithm can effectively improve fault-tolerant ability and ensure relatively high positioning precision of integrated navigation system when a subsystem having gradual changing fault.
基金Supported by the Harbin Engineering University Fund for Basic Projects (heuft06041)
文摘The initial motivation of the lifting technique is to solve the H∞control problems. However, the conventional weighted H∞design does not meet the conditions required by lifting, so the result often leads to a misjudgement of the design. Two conditions required by using the lifting technique are presented based on the basic formulae of the lifting. It is pointed out that only the H∞disturbance attenuation problem with no weighting functions can meet these conditions, hence, the application of the lifting technique is quite limited.
基金Supported by National Natural Science Foundation of P. R. China (60274014)the Specialized Research Fund for Doctoral Program of Higher Education of P. R. China (20020487006)
文摘Implementing a control system over a communication network induces inevitable time delays that may degrade performance and even cause instability. One of the most effective ways to reduce the negative effect of delays on the performance of networked control system (NCS) is to reduce network traffic. In this paper, adjustable deadbands are explored as a solution to reduce network traffic in NCS. A method of fault-tolerant control of networked control system is presented, which takes into account system response as well as network traffic. The integrity design for a kind of NCS with sensor failures and actuator failures is analyzed based on robust fault-tolerant control theory and information scheduling. After detailed theoretical analysis, the paper also provides the simulation results, which further validate the proposed scheme.
基金This project was supported by the National Natural Science Foundation of China (60274014)Doctor Foundation of China Education Ministry (20020487006).
文摘A kind of networked control system with network-induced delay and packet dropout, modeled on asynchronous dynamical systems was tested, and the integrity design of the networked control system with sensors failures and actuators failures was analyzed using hybrid systems technique based on the robust fault-tolerant control theory. The parametric expression of controller is given based on the feasible solution of linear matrix inequality. The simulation results are provided on the basis of detailed theoretical analysis, which further demonstrate the validity of the proposed schema.
基金supported by the National Natural Science Foundation of China(11372073,11072061)
文摘Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness(PLCE)fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.
基金supported by the National Natural Science Foundation of China(9101600461125306+2 种基金61203011)the Program for New Century Excellent Talents in University (NCET-10-0328)the Natural Science Foundation of Jiangsu Province(BK2012327)
文摘The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle （AHV） with actuator faults and external disturbances. Firstly, a fault-tolerant control strategy is presented for the longitudinal model of an AHV, which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate. However, this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances, which makes it not easy to implement. Then an improved adaptive fault-tolerant control scheme is proposed, where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor, respectively. Secondly, the problem of designing a control scheme with control constraints is further considered, and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories. Finally, simulation results are given to show the effectiveness of the proposed methods.
基金supported by the National Natural Science Foundation of China (6057408260804027)
文摘The problem of robust H∞ guaranteed cost satisfactory fault-tolerant control with quadratic D stabilizability against actuator failures is investigated for a class of discrete-time systems with value-bounded uncertainties existing in both the state and control input matrices.Based on a more practical and general model of actuator continuous gain failures,taking the transient property,robust behaviour on H∞ performance and quadratic cost performance requirements into consideration,sufficient conditions for the existence of satisfactory fault-tolerant controller are given and the effective design steps with constraints of multiple performance indices are provided.Meanwhile,the consistency of the regional pole index,H∞ norm-bound constraint and cost performance indices is set up for fault-tolerant control.A simulation example shows the effectiveness of the proposed method.
基金supported by the National Natural Science Foundation of China(61174203)Aeronautical Science Foundation of China(20110177002)
文摘An agile missile with tail fins and pulse thrusters has continuous and discontinuous control inputs.This brings certain difficulty to the autopilot design and stability analysis.Indirect robust control via Theta-D technique is employed to handle this problem.An acceleration tracking system is formulated based on the nonlinear dynamics of agile missile.Considering the dynamics of actuators,there is an error between actual input and computed input.A robust control problem is formed by treating the error as input uncertainty.The robust control is equivalent to a nonlinear quadratic optimal control of the nominal system with a modified performance index including uncertainty bound.Theta-D technique is applied to solve the nonlinear optimal control problem to obtain the final control law.Numerical results show the effectiveness and robustness of the proposed strategy.
基金Hohai University Startup Outlay for Doctor Scientific Research (2084/40601136)
文摘A kind of networked control system is studied; the networked control system with noise disturbance is modeled based on information scheduling and control co-design. Augmented state matrix analysis method is introduced, and robust fault-tolerant control problem of networked control systems with noise disturbance under actuator failures is studied. The parametric expression of the controller under actuator failures is given. Furthermore, the result is analyzed by simulation tests, which not only satisfies the networked control systems stability, but also decreases the data information number in network channel and makes full use of the network resources.
基金This work was supported by Tianjin Natural Science Foundation of China(20JCYBJC01060,20JCQNJC01450)the National Natural Science Foundation of China(61973175)Tianjin Postgraduate Scientific Research and Innovation Project(2020YJSZXB03,2020YJSZXB12).
文摘In this paper,the distributed fuzzy fault-tolerant tracking consensus problem of leader-follower multi-agent systems(MASs)is studied.The objective system includes actuator faults,mismatched parameter uncertainties,nonlinear functions,and exogenous disturbances under switching communication topologies.To solve this problem,a distributed fuzzy fault-tolerant controller is proposed for each follower by adaptive mechanisms to track the state of the leader.Furthermore,the fuzzy logic system is utilized to approximate the unknown nonlinear dynamics.An error estimator is introduced between the mismatched parameter matrix and the input matrix.Then,a selective adaptive law with relative state information is adopted and applied.When calculating the Lyapunov function’s derivative,the coupling terms related to consensus error and mismatched parameter uncertainties can be eliminated.Finally,a numerical simulation is given to validate the effectiveness of the proposed protocol.
文摘On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.
基金supported by the National Natural Science Foundation of China for Innovative Research Groups(70821001),the National Natural Science Foundation of China(70901069)the Special Fund for the Gainers of Excellent Ph.D.'s Dissertations and Dean's Scholarships of Chinese Academy of Sciences,the Research Fund for the Doctoral Program of Higher Education of China for New Teachers(20093402120013)+1 种基金the Research Fund for the Excellent Youth Scholars of Higher School of Anhui Province of China(2010SQRW001ZD)the Social Science Research Fund for Higher School of Anhui Province of China
文摘The cross-efficiency evaluation method is reviewed which is developed as a data envelopment analysis （DEA） extensive tool. The cross-efficiency evaluation method is utilized to identify the decision making unit （DMU） with the best practice and to rank the DMUs by their respective cross-efficiency scores. The main drawbacks of the cross-efficiency evaluation method when the ultimate average cross-efficiency scores are used to evalu- ate and rank the DMUs are also pointed out. With the research gap, an improved technique for order preference by similarity to ideal solution （TOPSIS） is introduced to rank the crossfficiency by eliminating the average assumption. Finally, an empirical example is illustrated to examine the validity of the proposed method.
基金Projects(2013CB0360042011CB013800)supported by the National Basic Research Program of China+1 种基金Project(51178468)supported by the National Natural Science Foundation of ChinaProject(2011G013-B)supported by the Science and Technology Development of Railways Department in China
文摘Based on the nonlinear failure criterion and the upper bound theorem, the modified tangential technique method was proposed to derive the expression of supporting pressure acting on shallow tunnel. Instead of the same stress state, different normal stresses on element boundaries were used. In order to investigate the influence of different factors on supporting pressures, the failure mechanism was established. The solution of supporting pressure, with different parameters, was obtained by optimization theory. The corresponding failure mechanism and numerical results were presented. In comparison with the results using the single tangential technique method, it is found that the proposed method is effective, and the good agreement shows that the present solution of supporting pressure is reliable.
基金Projects(51074014,51174014) supported by the National Natural Science Foundation of China
文摘Methods that can efficiently model the effects of rock joints on rock mass behavior can be beneficial in rock engineering. The suitability of equivalent rock mass(ERM) technique based upon particle methods is investigated. The ERM methodology is first validated by comparing calculated and experimental data of lab triaxial compression test on a set of cylindrical rock mass samples, each containing a single joint oriented in various dip angles. The simulated results are then used to study the stress-strain nonlinearity and failure mechanism as a function of the joint dip angle and confining stress. The anisotropy and size effects are also investigated by using multi-scale cubic ERM models subjected to triaxial compression test. The deformation and failure behavior are found to be influenced by joint degradation, the micro-crack formation in the intact rock, the interaction between two joints, and the interactions of micro-cracks and joints.
基金the "973" National Safety Importance Basal Research (5131201)"863" National DefenseHigh Technology ResearchDevelopment plan of China (2002AA715021).
文摘The robust fault-tolerant control problem of linear uncertain systems is studied. It is shown that a solution for this problem can be obtained from a H∞ robust predictive controller （RMPC） by the method of linear matrix inequality （LMI）. This approach has the advantages of both H∞ control and MPC： the robustness and ability to handle constraints explicitly. The robust closed-loop stability of the linear uncertain system with input and output constraints is proven under an actuator and sensor faults condition. Finally, satisfactory results of simulation experiments verify the validity of this algorithm.
