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Research Papers

Reliable Finite-Time Robust Control for Sampled-Data Mechanical Systems Under Stochastic Actuator Failures

[+] Author and Article Information
Shidong Xu

Research Institute of Intelligent
Control and Systems,
Harbin Institute of Technology,
Harbin 150080, Heilongjiang, China
e-mails: shidongxu@hit.edu.cn;
shidongxuhit@gmail.com

Guanghui Sun

Research Institute of Intelligent
Control and Systems,
Harbin Institute of Technology,
Harbin 150080, Heilongjiang, China
e-mail: guanghuisun@hit.edu.cn

Jianxing Liu

Research Institute of Intelligent
Control and Systems,
Harbin Institute of Technology,
Harbin 150080, Heilongjiang, China
e-mail: jx.liu@hit.edu.cn

Zhan Li

Research Institute of Intelligent
Control and Systems,
Harbin Institute of Technology,
Harbin 150080, Heilongjiang, China
e-mail: zhanli@hit.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 30, 2016; final manuscript received July 14, 2017; published online September 8, 2017. Assoc. Editor: Yang Shi.

J. Dyn. Sys., Meas., Control 140(2), 021003 (Sep 08, 2017) (9 pages) Paper No: DS-16-1472; doi: 10.1115/1.4037333 History: Received September 30, 2016; Revised July 14, 2017

This paper considers the problem of reliable finite-time robust control for uncertain mechanical systems with stochastic actuator failures and aperiodic sampling. A novel model of actuator failure capable of depicting various faulty modes is developed on the basis of homogenous Markov variable. To guarantee the finite-time stability (FTS) and boundedness, a novel fault-tolerant switching controller is developed by virtue of Lyapunov–Krasovskii functional and stochastic analysis technique, simultaneously, the finite-time H performance is also ensured to attenuate the mechanical vibration caused by external disturbances. With convex optimization algorithm, the anticipated controller can be procured by solving a set of linear matrix inequalities (LMIs). Finally, two practical examples of mechanical systems, one of which is governed by lumped parameters and the other is described by distributed parameters, are proposed to prove the effectiveness of the theoretical developments of this study.

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Figures

Grahic Jump Location
Fig. 1

Configuration of a quarter-car active suspension

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Fig. 2

The evolution of faulty modes

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Fig. 3

The responses of z˙s(t)

Grahic Jump Location
Fig. 4

The responses of control torque uf(t)

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Fig. 5

The responses of g(u(t))

Grahic Jump Location
Fig. 6

Configuration of a distributed-parameter mechanical system

Grahic Jump Location
Fig. 7

The evolution of faulty modes

Grahic Jump Location
Fig. 8

The responses of z˙s(t)

Grahic Jump Location
Fig. 9

The responses of control torque uf(t)

Grahic Jump Location
Fig. 10

The responses of g(u(t))

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