Title :
Robust Adaptive Control against Actuator Failures
Author :
Takahashi, Masanori
Author_Institution :
Dept. of Mech. Syst. Eng., Tokai Univ., Kumamoto, Japan
Abstract :
This paper deals with a problem on adaptive fault tolerant control of nonlinearly-perturbed systems with actuator failures. To cope with both the perturbation and the parameter variation caused by the failure, we adopt the robust adaptive control technique of a ¿-modification for the adjusting law. Furthermore, the switching function is introduced to the ¿-term in order to attain the ¿-tracking.
Keywords :
actuators; adaptive control; fault tolerance; nonlinear control systems; robust control; time-varying systems; actuator failures; adaptive fault tolerant control; lambda tracking; nonlinearly perturbed systems; parameter variation; perturbation variation; robust adaptive control; sigma modification; switching function; Actuators; Adaptive control; Control system synthesis; Control systems; Mechanical systems; Nonlinear control systems; Programmable control; Robust control; Stability; Systems engineering and theory;
Conference_Titel :
Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4244-5543-0
DOI :
10.1109/ICICIC.2009.320
