Adaptive tracking control of systems with actuator nonlinearities and failures

Author

Taware, Avinash ; Tao, Gang ; Joshi, Suresh M.

Author_Institution

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

Volume

2

fYear

2001

fDate

2001

Firstpage

1607

Abstract

Direct adaptive control schemes to achieve state or output tracking are developed for linear time-invariant plants with actuator nonlinearities and failures. Conditions and controller structures for achieving plant-model state or output matching are presented. Adaptive laws are designed for updating the controller parameters when the plant parameters, actuator nonlinearity and failure parameters are unknown. The effectiveness of the proposed designs is illustrated with simulation results

Keywords

adaptive control; compensation; linear systems; state feedback; time-varying systems; actuator nonlinearities; actuator nonlinearity; adaptive t racking control; direct adaptive control schemes; failure parameters; failures; linear time-invariant plants; output tracking; simulation results; state tracking; Adaptive control; Control nonlinearities; Control system synthesis; Control systems; Hydraulic actuators; Motion control; NASA; Nonlinear control systems; Programmable control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2001. Proceedings of the 40th IEEE Conference on

Conference_Location

Orlando, FL

Print_ISBN

0-7803-7061-9

Type

conf

DOI

10.1109/.2001.981129

Filename

981129