A new multiple-model adaptive actuator failure compensation scheme for a class of nonlinear MIMO systems

This paper develops a new adaptive multiple-model control scheme for a class of nonlinear multiple-input multiple-output (MIMO) dynamic systems to compensate uncertain actuator failures using an error transformation. Such an adaptive control scheme, consisting of multiple estimators, controllers and a control switching mechanism with multiple cost functions, can ensure desired system stability and asymptotic tracking properties, despite the presence of failure uncertainties. Simulation results of an application to a spacecraft model verify the effectiveness of the proposed multiple-model based adaptive control scheme.