Virtual Grouping based adaptive actuator failure compensation for MIMO nonlinear systems

Author

Tang, Xidong ; Tao, Gang ; Joshi, Suresh M.

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Virginia, Charlottesville, VA, USA

Volume

50

Issue

11

fYear

2005

Firstpage

1775

Lastpage

1780

Abstract

A new control design technique called virtual grouping is presented to handle actuator redundancy and failures for multiple-input-mutliple-output (MIMO) systems, enlarging the set of compensable actuator failures. An adaptive compensation scheme is thus developed for a class of nonlinear MIMO systems to ensure closed-loop signal boundedness and asymptotic output tracking despite unknown actuator failures. Simulation results are given to show the effectiveness of the adaptive design.

Keywords

MIMO systems; actuators; adaptive control; closed loop systems; control system synthesis; failure analysis; nonlinear control systems; redundancy; MIMO nonlinear system; actuator redundancy; adaptive actuator failure compensation; asymptotic output tracking; closed loop signal boundedness; control design; virtual grouping; Adaptive control; Control design; Control systems; MIMO; Manipulators; Nonlinear systems; Piezoelectric actuators; Programmable control; Redundancy; Uncertainty; Actuator failure; adaptive control; backstepping; multiple-input–mutliple-output (MIMO) system;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2005.858633

Filename

1532404