A discrete-time parameter estimation based adaptive actuator failure compensation control scheme |
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Authors: | Chang Tan Ruiyun Qi |
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Affiliation: | College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing , China |
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Abstract: | This article studies discrete-time adaptive failure compensation control of systems with uncertain actuator failures, using an indirect adaptive control method. A discrete-time model of a continuous-time linear system with actuator failures is derived and its key features are clarified. A new discrete-time adaptive actuator failure compensation control scheme is developed, which consists of a total parametrisation of the system with parameter and failure uncertainties, a stable adaptive parameter estimation algorithm, and an on-line design procedure for feedback control. This work provides a new design of direct adaptive compensation of uncertain actuator failures, using an indirect adaptive control method. Such an adaptive design ensures desired closed-loop system stability and tracking properties despite uncertain actuator failures. Simulation results are presented to show the desired adaptive actuator failure compensation performance. |
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Keywords: | actuator failure compensation indirect adaptive control discrete-time systems parameter estimation stability and tracking |
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