Adaptive actuator failure accommodation for linear systems with parameter uncertainties

This study presents a direct adaptive control scheme to accommodate actuator failures for multi-input single-output linear systems with parameter uncertainties. The scheme requires weaker hypothesis than the existing relevant results and it removes some assumptions on faulty systems, which is obtained based on a novel design idea that every functional actuator shares a part of the pre-specified control task as well as the negative effect of actuator faults. Adaptive failure accommodation controllers can guarantee systems internal stability and asymptotically tracking. Simulation examples show the effectiveness of the proposed scheme by a linearised Boeing 747 model.