Compensation of nonlinear MIMO systems for uncertain actuator failures with an application to aircraft control

Compensation of nonlinear MIMO systems for actuator failures is investigated with systematic sufficient conditions which guarantee the existence of stable adaptive compensation control schemes for asymptotic output tracking. As an application, we examine the actuator failure compensation of a twin otter aircraft longitudinal model, verify such sufficient conditions, and develop an adaptive control scheme for the nonlinear aircraft model in the presence of uncertain actuator failures, whose effectiveness is demonstrated by simulation results.