An adaptive control scheme for systems with unknown actuator failures
An adaptive control scheme for systems with unknown actuator failures
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DOI：
10.1109/acc.2001.945869
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发表时间：
2002-06
期刊：
影响因子：
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通讯作者：
G. Tao;Shuhao Chen;S. Joshi
中科院分区：
文献类型：
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作者：
G. Tao;Shuhao Chen;S. Joshi
针对执行器失效的对象，提出了一种状态反馈输出跟踪自适应控制方案，其失效模式为某些输入在未知时刻卡在某个未知的固定值。该方案放宽了被控对象在执行器出现故障时的期望对象模型输出匹配条件。在约束条件较少的情况下，提出了新的控制器参数化和自适应律。所有闭环信号都是有界的，尽管执行器故障和对象参数存在不确定性，但对象输出渐近地跟踪给定的参考输出。仿真结果验证了所设计自适应控制系统的性能。
A state feedback output tracking adaptive control scheme is developed for plants with actuator failures characterized by the failure pattern that some inputs are stuck at some unknown fixed values at unknown time instants. This scheme relaxes the conditions on the controlled plant for desired plant-model output matching in the presence of actuator failures. New controller parametrization and adaptive law are developed under less restrictive conditions. All closed-loop signals are bounded and the plant output tracks a given reference output asymptotically, despite the uncertainties in actuator failures and plant parameters. Simulation results verify the desired adaptive control system performance.