Switching Control in Adaptive State Feedback Tracking of Systems with Actuator Failures

This paper studies the problem of designing fault-tolerant adaptive controllers via state feedback for LTI with actuator failures. An unilateral switching scheme is proposed to deal with the scenario that there have no enough actuators to realize the original planed state tracking task, two different controller parameters update laws are designed, and the proper one will be activated according with the failure pattern. Asymptotic state tracking are guaranteed if the actuator failure do not destroy the plant-model matching condition and the closed-loop system are asymptotic stable even in the fault cases that the plant-model matching condition cannot be satisfied. Simulations are carried out in order to verify the validity of the proposed control method.