A discrete-time parameter estimation based adaptive actuator failure compensation control scheme

This paper studies discrete-time adaptive failure compensation control of systems with uncertain actuator failures, using an indirect adaptive control method. A discrete time model of a continuous-time linear system with actuator failures is derived and its key features are clarified. A new discrete-time adaptive actuator failure compensation control scheme is developed, which consists of a total parametrization of the system with parameter and failure uncertainties, a stable adaptive parameter estimation algorithm, and an on-line design procedure for feedback control. This work represents a new design of direct adaptive compensation of uncertain actuator failures, using an indirect adaptive control method. Such an adaptive design ensures desired closed-loop system stability and asymptotic tracking properties despite uncertain actuator failures. Simulation results are presented to show the desired adaptive actuator failure compensation performance.