The robust control mixer method for reconfigurable control design by using model matching strategy

摘要

A novel control mixer method for reconfigurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a LTI dynamic system-form. The H∞ control technique is employed for these dynamic module designs after an augment control system is constructed through the model-matching strategy. The stability, performance and robustness of the reconfigured system can be guaranteed when some conditions are satisfied. To illustrate the effectiveness of the proposed method, a robot system subjected to failures is used to demonstrate the reconfiguration procedure.