Adaptive Actuator Failure Compensation for a Class of Nonlinear Systems With Unknown Control Direction

In this note, a novel adaptive compensation control scheme is proposed for a class of nonlinear systems with unknown control direction and a possibly infinite number of unknown actuator failures. By introducing a bound estimation approach, high-order Lyapunov functions and a Nussbaum function with f...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 62; no. 1; pp. 385 - 392
Main Authors Wang, Chenliang, Wen, Changyun, Lin, Yan
Format Journal Article
LanguageEnglish
Published New York IEEE 01.01.2017
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuator failure
Actuator failures
Actuators
Adaptive control
Compensation
Estimation
Feedback control
Liapunov functions
Lyapunov methods
Nonlinear systems
Tracking errors
unknown control direction
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Summary:In this note, a novel adaptive compensation control scheme is proposed for a class of nonlinear systems with unknown control direction and a possibly infinite number of unknown actuator failures. By introducing a bound estimation approach, high-order Lyapunov functions and a Nussbaum function with faster growth rate, the obstacle caused by unknown failures and unknown control direction is successfully circumvented and all signals of the closed-loop system are proved to be globally uniformly bounded. Moreover, the proposed scheme is able to steer the tracking error into a predefined small residue set. Simulation results are presented to illustrate the effectiveness of the proposed scheme.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2016.2524202