Adaptive output feedback control of nonlinear systems with actuator failures

Authors:
Zhengqiang Zhang;Weisheng Chen
Affiliations:
School of Automation, Nanjing University of Science and Technology, Nanjing 210094, PR China and Department of Electrical Engineering and Automation, Qufu Normal University, Rizhao 276826, PR Chin ...;Department of Applied Mathematics, Xidian University, Xian 710071, PR China
Venue:
Information Sciences: an International Journal
Year:
2009

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Abstract

In this paper, a modified adaptive actuator failure compensation scheme is proposed for a class of uncertain multi-input and single-output (MISO) nonlinear systems in the output-feedback form. We first establish a new parametric model with unknown plant parameters and actuator failure parameters, which differs from some existing results. Then, an adaptive compensation controller is constructed by utilizing the backstepping technique. The boundedness of all closed-loop signals is guaranteed. The tracking error is proved to converge to zero asymptotically. Finally, two simulation examples are provided to demonstrate the effectiveness of the proposed design scheme.