Title :
Adaptive actuator failure compensation control of parametric strict-feedback systems with zero dynamics
Author :
Tang, Xidong ; Tao, Gang ; Joshi, Suresh M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
Actuator failure compensation for nonlinear systems which can be transformed into parametric strict-feedback form with zero dynamics is investigated. Direct adaptive compensation control schemes are developed to ensure asymptotic output tracking and stabilize the system despite the uncertainties in actuator failures as well as in system parameters. Two main cases are studied for adaptive actuator failure compensation: systems with stable zero dynamics, and systems with extra controls for stabilization. Design conditions on systems suitable for actuator failure compensation are clarified
Keywords :
actuators; adaptive control; closed loop systems; compensation; control system synthesis; dynamics; feedback; nonlinear control systems; stability; tracking; adaptive actuator failure compensation control; asymptotic output tracking; design conditions; direct adaptive compensation control schemes; nonlinear systems; parametric strict-feedback systems; uncertainties; zero dynamics; Accidents; Adaptive control; Control systems; Hydraulic actuators; Linear systems; NASA; Nonlinear systems; Postal services; Power system dynamics; Programmable control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980550
