Stabilization of an underactuated rigid body with unknown parameters using adaptive switching control

An adaptive actuator failure accommodation control scheme is developed for an underactuated rigid body with uncertain actuator failures and unknown inertia parameters, using an adaptive switching control design. Such a design employs multiple adaptive controllers, each of which is designed for each failure pattern in a failure pattern set of interest, and selects the stabilizing control signal based the minimum of the corresponding multiple state predictors. Simulation results from a rigid body in the presence of uncertain actuator failures are presented to show the desired control performance.