Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance

作者：Wang Wei; Wen Changyun^*

来源：Automatica, 2010, 46(12): 2082-2091.

DOI：10.1016/j.automatica.2010.09.006

• Adaptive control
• Actuator failure compensation
• Transient performance
• Prescribed performance bound
• Backstepping

In order to accommodate actuator failures which are uncertain in time pattern and value we propose two adaptive backstepping control schemes for parametric strict feedback systems Firstly a basic design scheme on the basis of existing approaches is considered It is analyzed that when actuator failures occur transient performance of the adaptive system cannot be adjusted through changing controller design parameters Then we propose a new controller design scheme based on a prescribed performance bound (PPB) which characterizes the convergence rate and maximum overshoot of the tracking error It is shown that the tracking error satisfies the prescribed performance bound all the time Simulation studies also verify the established theoretical results that the PPB based scheme can improve transient performance

• 出版日期2010-12
• 单位南阳理工学院