Adaptive actuator failure compensation control of parametric strict-feedback systems with zero dynamics

Author

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

Author_Institution

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

Volume

3

fYear

2001

fDate

2001

Firstpage

2031

Abstract

Actuator failure compensation for nonlinear systems which can be transformed into parametric strict-feedback form with zero dynamics is investigated. Direct adaptive compensation control schemes are developed to ensure asymptotic output tracking and stabilize the system despite the uncertainties in actuator failures as well as in system parameters. Two main cases are studied for adaptive actuator failure compensation: systems with stable zero dynamics, and systems with extra controls for stabilization. Design conditions on systems suitable for actuator failure compensation are clarified

Keywords

actuators; adaptive control; closed loop systems; compensation; control system synthesis; dynamics; feedback; nonlinear control systems; stability; tracking; adaptive actuator failure compensation control; asymptotic output tracking; design conditions; direct adaptive compensation control schemes; nonlinear systems; parametric strict-feedback systems; uncertainties; zero dynamics; Accidents; Adaptive control; Control systems; Hydraulic actuators; Linear systems; NASA; Nonlinear systems; Postal services; Power system dynamics; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.980550

Filename

980550