AN ADAPTIVE CONTROL SCHEME FOR OUTPUT FEEDBACK NONLINEAR SYSTEMS WITH ACTUATOR FAILURES

An adaptive control scheme to achieve stability and output tracking is presented for the output-feedback nonlinear plant with unknown actuator failures. A state observer is designed for estimating the unavailable plant states, based on a chosen control strategy, in the presence of actuator failures with unknown failure values, time instants and pattern. An adaptive controller is developed by employing the backstepping technique, for which parameter update laws are derived to ensure asymptotic output tracking and signal boundedness of the closed-loop system, as shown by detailed stability analysis.

[1]  Xiaoli Ma,et al.  Adaptive output tracking control of systems with actuator failures , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[2]  Petros A. Ioannou,et al.  Accommodation of failures in the F-16 aircraft using adaptive control , 1991, IEEE Control Systems.

[3]  Gang Tao,et al.  An adaptive actuator failure compensation controller using output feedback , 2002, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[4]  Xiaoli Ma,et al.  Adaptive state feedback and tracking control of systems with actuator failures , 2001, IEEE Trans. Autom. Control..

[5]  Jovan D. Boskovic,et al.  Stable multiple model adaptive flight control for accommodation of a large class of control effector failures , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[6]  Jovan D. Boskovic,et al.  A stable scheme for automatic control reconfiguration in the presence of actuator failures , 1998, Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207).

[7]  Gang Tao,et al.  Output tracking actuator failure compensation control , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[8]  Gang Tao,et al.  An adaptive control scheme for systems with unknown actuator failures , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[9]  Hong Wang,et al.  Actuator fault diagnosis: an adaptive observer-based technique , 1996, IEEE Trans. Autom. Control..

[10]  Gang Tao,et al.  Adaptive actuator failure compensation control of parametric strict-feedback systems with zero dynamics , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).