An output-feedback adaptive actuator failure compensation controller for systems with unknown state delays

Abstract

This paper presents an output-feedback adaptive controller for a class of linear systems with unknown time-varying state delay and in the presence of actuator failures. We consider a common type of actuator failure in which some unknown system inputs may be stuck at some unknown fixed values and at unknown time instants. The adaptive controller is designed based on SPR-Lyapunov approach for relative degree one and two cases. Closed-loop system stability and asymptotic output tracking are proved using suitable Lyapunov-Krasovskii functional for each case. Simulation results are provided to demonstrate the effectiveness of the proposed results.

H∞ Tracking Control of Fuzzy Dynamic Output for Nonlinear Networked System with Packet Dropouts

“…In some fields, the tracking control of output is employed far and wide, such as motors [8,9], robots [10], and flights [11]. Based on the tracking control of output, many preliminary studies have been produced [12][13][14][15]. Papers [6,[16][17][18] proposed some questions about stability, and some scholars proposed some thinking about ∞ control [19] as well as the problem of designing about the filter in the literature [20].…”

Adaptive actuator failure compensation for a class of MIMO nonlinear time delay systems

“…Consequently, the stability analysis and control for time delay systems have attracted considerable attention over the past few years [21][22][23][24][25]. Besides, many valuable research and practical results have been achieved in actuator failure compensation for linear time delay systems [26][27][28][29][30][31][32][33]. For example, in [26] and [27], state feedback controllers were developed within the framework of Linear Matrix Inequalities for a class of multi-input linear systems with time delay in control inputs and stuck-type actuator failures.…”

“…Based on a linear matrix inequality technique and an adaptive method, [30] and [31] suggested adaptive reliable controllers against loss of effectiveness unknown actuator failures, but the plant parameters were assumed to be known. In [32,33], adaptive output feedback controllers were designed for MISO state delay systems with unknown parameters and stucktype actuator failures. Furthermore, for nonlinear systems, the fault detection, estimation and compensation problems were presented in [34] for a class of disturbance driven MIMO time delay nonlinear systems.…”

Robust adaptive actuator failure compensation controller for systems with unknown time-varying state delays

“…In a recent work [18], an output feedback adaptive controller is designed for state delay systems with unknown parameters and unknown constant failures of stuck-type. To the best knowledge of authors, it is the first output-feedback model reference adaptive controller for compensating actuator failures in time delay systems.…”