Adaptive actuator failure compensation for multivariable feedback linearizable systems |
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| Authors: | Xuelian Yao Gang Tao Bin Jiang |
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| Affiliation: | 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China;2. Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA, USA |
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| Abstract: | A feedback linearization‐based adaptive control scheme is developed for multivariable nonlinear systems with redundant actuators subject to uncertain failures. Such an adaptive controller contains a direct adaptive actuator failure compensator to compensate the uncertain actuator failure, a nonlinear feedback to linearize the nonlinear dynamics, and a linear feedback to stabilize the linearized system. The key new design feature is the estimation of both the failure patterns and the failure values, for direct adaptive actuator failure compensation, newly developed for multivariable feedback linearizable nonlinear systems. With direct control signal adaptation, the adaptive failure compensation design ensures closed‐loop stability and asymptotic output tracking in the presence of actuator failure uncertainties. Simulation results from an application to attitude control of a near‐space vehicle dynamic model are presented to verify the desired system performance with adaptive actuator failure compensation. Copyright © 2015 John Wiley & Sons, Ltd. |
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| Keywords: | actuator failure compensation adaptive control failure pattern feedback linearization near‐space vehicle nonlinear systems stability and tracking |
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