Backstepping adaptive compensation control for a class of MIMO nonlinear systems with actuator failures

Author

Qiu Xiangwei ; Zhang Shaojie ; Liu Chunsheng

Author_Institution

Sch. of Autom., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2013

Firstpage

6088

Lastpage

6093

Abstract

An adaptive compensation control law is designed for a class of multi-input multi-output (MIMO) nonlinear minimum phase systems with actuator failures. Based on the differential geometry feedback linearization method, PPB and backstepping technique, an adaptive compensation tracking control scheme is designed for the system with actuators lock in space and loss of effectiveness failures. The proposed control law can guarantee that the closed-loop system with actuator failures is stability and asymptotically tracks the given reference signals, and the system transient performance is guaranteed. Simulation results demonstrate the effectiveness of the proposed method.

Keywords

MIMO systems; actuators; adaptive control; closed loop systems; control system synthesis; failure analysis; feedback; nonlinear control systems; performance index; stability; tracking; transient response; MIMO nonlinear minimum phase system; MIMO nonlinear systems; PPB; actuator failure; actuator lock in space failure; adaptive compensation control law design; adaptive compensation tracking control scheme; backstepping adaptive compensation control; backstepping technique; closed-loop system; differential geometry feedback linearization method; loss of effectiveness failure; multiinput multioutput system; prescribed performance bound; reference signal asymptotic tracking; stability; system transient performance guarantee; Actuators; Adaptive systems; Backstepping; Educational institutions; Electronic mail; MIMO; Nonlinear systems; actuator failures; adaptive compensation; backstepping control; multi-input multi-output nonlinear systems; prescribed performance bound (PPB);

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640504