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research-article

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, Heilongjiang 150080, China
shidongxu@hit.edu.cn
shidongxuhit@gmail.com

Guanghui Sun

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

Jianxing Liu

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

Zhan Li

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

1Corresponding author.

ASME doi:10.1115/1.4037333 History: Received September 30, 2016; Revised July 14, 2017

Abstract

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. The uncertainties of systems are assumed to occur in mass, damping, and stiffness parameters and represented by the linear fractional transformation (LFT) approach. To guarantee the finite-time stability and boundedness, a novel fault-tolerant switching controller is developed by virtue of Lyapunov-Krasovskii functional (LKF) and stochastic analysis technique, simultaneously, the finite-time $H_\infty$ 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.

Copyright (c) 2017 by ASME
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