Output tracking actuator failure compensation control
Authors:
- Xidong TangXTXidong Tang
- S.M. JoshiSJS.M. Joshi
- 1 January 2001
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (07431619) , 1821-1826 vol.3
Abstract
Controller parametrization is crucial for control of systems with actuator failures. Certain conditions on the controlled system are needed for a parametrization suitable for meeting a given control objective. For actuator failure compensation, it is desirable to use less restrictive conditions which mean that larger classes of systems can be candled with a fixed or adaptive compensation controller. In this paper, a minimal necessary and sufficient condition for stable plant-model output matching is derived, with analytical proof, for two actuator failure models: failures with fixed or variant values. An adaptive control scheme is developed for systems with unknown dynamics parameters and actuator failure parameters including failure values, times and patterns.Keywords
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