关键词: 结构振动, 鲁棒H∞容错控制, 线性矩阵不等式（LMI）, 输入时变时滞, 非线性

Abstract: The problem of robust H∞ fault-tolerant control for structural nonlinear vibration systems with multi-constraints is investigated. According to structural dynamics theory, a state-space model containing multi-constraints such as input time-varying delay, actuator failure, parameter nonlinear, disturbance, etc is established. Based on state feedback and Lyapunov stability theory, a sufficient condition of the existence of robust H∞ fault-tolerant controller is derived and then transformed to the corresponding Linear Matrix Inequality（LMI）. During inferential reasoning, the matrix inequality is only amplified twice and relied on system’s delay-time, so that it is possible to sufficently reduce conservative of controller design. The resultant controller enables structural nonlinear vibration systems to retain robust stability and disturbance attenuation as well as to tolerate actuator failure. A building model with four degrees of freedom subjected to the El Centro earthquake wave is simulated and studied to examine the effectiveness of the algorithm provided above, and the results show that the proposed method is feasible.

Key words: structural vibration, robust H∞ fault-tolerant control, Linear Matrix Inequality（LMI）, input time-varying delay, nonlinear