Adaptive State Tracking Control with Actuator Nonlinearities and Failures

Liyan Wen, Gang Tao
2020 Proceedings of the 7th International Conference of Control, Dynamic Systems, and Robotics (CDSR'20)   unpublished
In this paper, adaptive control is developed for an M-input linear time-invariant system with actuator failures and nonlinearities in presence of an unknown triangular matrix Λ. Three technical problems are solved: (i) the development of a simple adaptive controller without the use of an additional compensator system, which ensures desired stability and state tracking properties; (ii) the extension of the developed adaptive control scheme the case when Λ is an unknown triangular matrix; and
more » ... lar matrix; and (iii) the development of an adaptive control scheme for the case when some of the actuators fail during the system operation, that is, some components of u(t) = [u 1 , u 2 , . . . , u M ] T become uncontrollable by the feedback control signals.
doi:10.11159/cdsr20.118 fatcat:u5otbk5tjbfo7kqhxdaol7cuie