Adaptive compensation control of nonlinear systems with unknown actuator failures

Abstract

In this paper, by using bound estimation method, Nussbaum function, K‐filters and higher‐order Lyapunov function, an adaptive output feedback compensation control scheme is proposed for uncertain nonlinear systems with infinite number of actuator failures and unknown control direction. A parametric model with unknown system uncertainties and infinite actuator failures is established, which is different from the existing results. This scheme ensures that closed‐loop signals are globally uniformly bounded. By properly selecting the design parameters, the tracking errors converges to a small neighborhood of the origin. Finally, two simulation examples are given to demonstrate its efficiency of the proposed design scheme.