Title :
Fault tolerant tube-based adaptive tracking for a class of nonlinear plants
Author :
Mirkin, Boris ; Gutman, Per-Olof ; Shtessel, Yuri
Author_Institution :
Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa, Israel
Abstract :
In this paper, we develop a tube based model reference adaptive configuration for a class of nonlinear dynamic systems with actuator failure which not only guarantees closed loop stability, asymptotically exact tracking and robustness to a nonlinear perturbation, and to an external disturbance with unknown bounds, but also diminishes the control cost with respect to some criterion.
Keywords :
actuators; asymptotic stability; closed loop systems; fault tolerance; model reference adaptive control systems; nonlinear control systems; nonlinear dynamical systems; uncertain systems; actuator failure; asymptotically exact tracking; closed loop stability; control cost; external disturbance; fault tolerant tube-based adaptive tracking; nonlinear dynamic systems; nonlinear perturbation; nonlinear plants; robustness; tube based model reference adaptive configuration; uncertain systems; Actuators; Adaptation models; Adaptive control; Electron tubes; Mathematical model; Trajectory; Vectors;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6669972
