An adaptive actuator failure compensation controller for MIMO systems

Two adaptive control schemes based on MRAC are developed for a class of MIMO systems with unknown actuator failures. An effective controller structure is proposed to achieve the desired plant-model output matching when implemented with matching parameters. Based on design conditions on the controlled plant, which are needed for nominal plant-model output matching for a chosen controller structure, two adaptive versions of the nominal controller are proposed and adaptive laws are derived for updating the controller parameters when plant and failure parameters are unknown. All closed-loop signals are bounded and the plant outputs track the given reference outputs asymptotically, despite the uncertainties in failures and plant parameters. Simulation results are presented to show the desired performance of the adaptive control system in the presence of unknown rudder and aileron failures in an aircraft lateral dynamic model.