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Adaptive compensation of persistent actuator failures of nonlinear systems
Author(s) -
Wen Liyan,
Tao Gang,
Jiang Bin
Publication year - 2021
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.3155
Subject(s) - control theory (sociology) , actuator , compensation (psychology) , nonlinear system , linearization , bounded function , tracking error , adaptive control , computer science , tracking (education) , control (management) , mathematics , artificial intelligence , quantum mechanics , psychoanalysis , psychology , mathematical analysis , pedagogy , physics
Summary In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time‐varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed‐loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.