变时延网络控制系统的鲁棒故障检测

针对具有时变时延的网络控制系统故障检测问题，提出了一种基于鲁棒H_∞思想的故障检测滤波器设计方法.将鲁棒H_∞故障检测问题归结为寻找滤波器参数矩阵，使得滤波系统内稳定并且满足鲁棒H_∞性能指标.根据残差评价函数和故障阈值判断系统是否存在故障.假设时变时延的上下界已知.基于时延相关Lyapunov-Krasovskii泛函方法给出了系统内稳定并且具有H_∞指标的时延相关条件.在外部控制输入、外界干扰和故障信号有界的情况下，所设计的故障检测滤波器能够保证生成的残差信号有界.针对HiMAT（Highly Maneuverable Technology）飞行器设计了故障检测滤波器，并通过仿真分析验证了所提出方法的有效性.

Robust fault detection for network-based system with time-varying delay

For network-based system with time-varying delay, the fault detection filter design approach based on robust H_∞ theory was proposed. The robust H_∞ fault detection problem was converted into design parameter matrices of the filter which guarantees the internal stability and the robust H_∞ performance index. Faults were detected based on the residual error evaluation function and the fault threshold. It was assumed that the time-varying delay was bounded and the upper and lower bounds were known. The delay-dependent Lyapunov-Krasovskii functional was chosen to derive the delay-dependent condition for the existence of the fault detection filter. The parameters of the corresponding fault detection filter were obtained by solving the delay-dependent condition. Under bounded control inputs, external disturbances and fault signals, the fault detection filter can guarantee the boundedeness of the resultant residual error. The effectiveness of the proposed approach was demonstrated by the application to the highly maneuverable technology (HiMAT) vehicle flight control system.