Title :
An adaptive control scheme for systems with unknown actuator failures
Author :
Tao, Gang ; Chen, Shuhao ; Joshi, Suresh M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Virginia, Charlottesville, VA, USA
Abstract :
A state feedback output tracking adaptive control scheme is developed for plants with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed values at unknown time instants. This scheme relaxes the conditions on the controlled plant for desired plant-model output matching in the presence of actuator failures. New controller parametrization and adaptive law are developed under less restrictive conditions. All closed-loop signals are bounded and the plant output tracks a given reference output asymptotically, despite the uncertainties in actuator failures and plant parameters. Simulation results verify the desired adaptive control system performance
Keywords :
actuators; adaptive control; closed loop systems; compensation; failure analysis; state feedback; actuator failures; adaptive control scheme; adaptive control system performance; adaptive law; closed-loop signals; controlled plant; controller parametrization law; failure pattern; plant-model output matching; reference output tracking; state feedback output tracking adaptive control scheme; unknown actuator failures; unknown fixed values; unknown time instants; Adaptive control; Control systems; Impedance matching; Intelligent actuators; Linear feedback control systems; NASA; Postal services; Programmable control; State feedback; Uncertainty;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945869
