An adaptive actuator failure compensation controller using output feedback

Author

Tao, Gang ; Chen, Shuhao ; Joshi, Suresh M.

Author_Institution

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

Volume

47

Issue

3

fYear

2002

fDate

3/1/2002 12:00:00 AM

Firstpage

506

Lastpage

511

Abstract

An adaptive control scheme using output feedback for output tracking is developed for systems with unknown actuator failures. Such actuator failures are characterized by some unknown inputs stuck at some unknown fixed values at unknown time instants. An effective output feedback controller structure is proposed for actuator failure compensation. When implemented with true matching parameters, the controller achieves desired plant-model output matching. When implemented with adaptive parameter estimates, the controller achieves asymptotic output tracking. A stable adaptive law is derived for parameter adaptation in the presence of parameter uncertainties. Closed-loop signal boundedness and asymptotic output tracking, despite the uncertainties in actuator failures and plant parameters, are ensured analytically and verified by simulation results

Keywords

actuators; adaptive control; adaptive estimation; closed loop systems; compensation; control system synthesis; feedback; parameter estimation; adaptive actuator failure compensation controller; adaptive parameter estimates; asymptotic output tracking; closed-loop signal boundedness; output feedback; parameter uncertainties; plant-model output matching; unknown actuator failures; Actuators; Adaptive control; Failure analysis; Impedance matching; Output feedback; Parameter estimation; Programmable control; Signal analysis; Uncertain systems; Uncertainty;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.989150

Filename

989150