Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay | Zendy

Jianping Cai | Zendy; Jun Wan | Zendy; Haoyi Que | Zendy; Qingping Zhou | Zendy; Lujuan Shen | Zendy

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Adaptive Actuator Failure Compensation Control of Second-Order Nonlinear Systems With Unknown Time Delay

Author(s) -

Jianping Cai,

Jun Wan,

Haoyi Que,

Qingping Zhou,

Lujuan Shen

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2796129

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In this paper, a robust adaptive control law is proposed based on backstepping technique for strict-feedback systems with unknown actuator failure and unknown time delay. Unlike existing results, the bounding function of the time delay term is allowed to depend on all system states, and thus the triangular structure of the system to be controlled is destroyed. By constructing a linear projection between the state vector (x₁, x₂) and its transform (z₁, z₂) in controller design, the triangular structure requirement of backstepping technique is no longer needed. Simulation results show that the designed controller can ensure the stability of the closed-loop system.

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