Title :
Virtual Grouping based adaptive actuator failure compensation for MIMO nonlinear systems
Author :
Tang, Xidong ; Tao, Gang ; Joshi, Suresh M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Virginia, Charlottesville, VA, USA
Abstract :
A new control design technique called virtual grouping is presented to handle actuator redundancy and failures for multiple-input-mutliple-output (MIMO) systems, enlarging the set of compensable actuator failures. An adaptive compensation scheme is thus developed for a class of nonlinear MIMO systems to ensure closed-loop signal boundedness and asymptotic output tracking despite unknown actuator failures. Simulation results are given to show the effectiveness of the adaptive design.
Keywords :
MIMO systems; actuators; adaptive control; closed loop systems; control system synthesis; failure analysis; nonlinear control systems; redundancy; MIMO nonlinear system; actuator redundancy; adaptive actuator failure compensation; asymptotic output tracking; closed loop signal boundedness; control design; virtual grouping; Adaptive control; Control design; Control systems; MIMO; Manipulators; Nonlinear systems; Piezoelectric actuators; Programmable control; Redundancy; Uncertainty; Actuator failure; adaptive control; backstepping; multiple-input–mutliple-output (MIMO) system;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2005.858633
