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

Author

Xidong Tang ; Tao, Gang

Author_Institution

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

Volume

6

fYear

2003

fDate

4-6 June 2003

Firstpage

5123

Abstract

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.

Keywords

MIMO systems; actuators; closed loop systems; compensation; control system synthesis; nonlinear control systems; state feedback; actuator failures; adaptive compensation; adaptive controller structure; asymptotic tracking; closed-loop signal boundedness; nonlinear MIMO systems; output tracking; relaxed design conditions; unknown failure patterns; virtual grouping parameterization; Actuators; Adaptive control; Control systems; MIMO; Nonlinear control systems; Programmable control; Signal design; Stability; State feedback; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1242540

Filename

1242540