Adaptive Actuator Failure Compensation for a Class of Nonlinear Systems With Unknown Control Direction

作者：Wang, Chenliang^*; Wen, Changyun^*; Lin, Yan^*

来源：IEEE Transactions on Automatic Control, 2017, 62(1): 385-392.

DOI：10.1109/TAC.2016.2524202

• Actuator failures
• adaptive control
• nonlinear systems
• unknown control direction

In this note, a novel adaptive compensation control scheme is proposed for a class of non-linear systems with unknown control direction and a possibly infinite number of unknown actuator failures. By introducing a bound estimation approach, high-order Lyapunov functions and a Nussbaum function with faster growth rate, the obstacle caused by unknown failures and unknown control direction is successfully circumvented and all signals of the closed-loop system are proved to be globally uniformly bounded. Moreover, the proposed scheme is able to steer the tracking error into a predefined small residue set. Simulation results are presented to illustrate the effectiveness of the proposed scheme.

• 出版日期2017-1
• 单位北京航空航天大学; 南阳理工学院