Robust Adaptive Actuator Failure Compensation for a Class of Uncertain Nonlinear Systems  

作　　者：Mahnaz Hashemi Javad Askari Jafar Ghaisari Marzieh Kamali 

机构地区：[1]Department of Electrical and Computer Engineering,Isfahan University of Technology,Isfahan 84156-83111,Iran

出　　处：《International Journal of Automation and computing》2017年第6期719-728,共10页国际自动化与计算杂志（英文版）

基　　金：supported by Esfahan Regional Electric Company(EREC)

摘　　要：This paper presents a robust adaptive state feedback control scheme for a class of parametric-strict-feedback nonlinear systems in the presence of time varying actuator failures. The designed adaptive controller compensates a general class of actuator failures without any need for explicit fault detection. The parameters, times, and patterns of the considered failures are completely unknown. The proposed controller is constructed based on a backstepping design method. The global boundedness of all the closed-loop signals is guaranteed and the tracking error is proved to converge to a small neighborhood of the origin. The proposed approach is employed for a two-axis positioning stage system as well as an aircraft wing system. The simulation results show the correctness and effectiveness of the proposed robust adaptive actuator failure compensation approach.This paper presents a robust adaptive state feedback control scheme for a class of parametric-strict-feedback nonlinear systems in the presence of time varying actuator failures. The designed adaptive controller compensates a general class of actuator failures without any need for explicit fault detection. The parameters, times, and patterns of the considered failures are completely unknown. The proposed controller is constructed based on a backstepping design method. The global boundedness of all the closed-loop signals is guaranteed and the tracking error is proved to converge to a small neighborhood of the origin. The proposed approach is employed for a two-axis positioning stage system as well as an aircraft wing system. The simulation results show the correctness and effectiveness of the proposed robust adaptive actuator failure compensation approach.

关 键 词：Time varying actuator failure nonlinear systems robust adaptive control compensation backstepping design method 

分 类 号：TP215[自动化与计算机技术—检测技术与自动化装置]