Adaptive output feedback design for actuator failure compensation using dynamic bounding: output regulation

Author

Tang, Xidong ; Tao, Gang ; Joshi, Suresh M.

Author_Institution

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

fYear

2005

fDate

8-10 June 2005

Firstpage

3315

Abstract

A new adaptive actuator failure compensation scheme using output feedback is presented in this paper for an enlarged class of nonlinear systems with state-dependent nonlinearities, which are bounded by both linear parameterized static functions and dynamic signals. By introducing the dynamic bounding technique to construct a backstepping control law, the control scheme ensures asymptotic output regulation and closed-loop stability via a Lyapunov based design in the presence of unknown actuator failures as well as system parameter and dynamic uncertainties. Simulation results are included to illustrate the control effectiveness.

Keywords

Lyapunov methods; actuators; adaptive control; closed loop systems; compensation; control nonlinearities; control system synthesis; feedback; nonlinear control systems; stability; Lyapunov based design; actuator failure compensation; adaptive output feedback design; asymptotic output regulation; backstepping control law; closed-loop stability; dynamic bounding; nonlinear systems; state-dependent nonlinearities; Actuators; Adaptive control; Backstepping; Control systems; NASA; Nonlinear dynamical systems; Nonlinear systems; Output feedback; Programmable control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470482

Filename

1470482