Adaptive compensation of actuator failures for nonlinear MIMO systems under relaxed design conditions

This paper presents a new solution to adaptive compensation of unknown actuators failures for a class of nonlinear MIMO systems, which eliminates a critical condition using a fixed grouping of actuators for adaptive failure compensation in the MIMO case. Without such a condition, a virtual grouping parameterization is used for the adaptive controller structure, which completely removes the unmodeled compensation error caused by unknown failure patterns. The new adaptive compensation control scheme, using state feedback for output tracking, ensures closed-loop signal boundedness and asymptotic tracking. Simulation results are given to show the effectiveness of the adaptive compensation design.