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

Abstract

An output feedback model reference adaptive controller is developed for a class of linear systems with multiple unknown time-varying state delays and in the presence of actuator failures. The adaptive controller is designed based on SPR-Lyapunov approach and is robust with respect to multiple unknown time-varying plant delays and to an external disturbance with unknown bounds. Closed-loop system stability and asymptotic output tracking are proved using suitable Lyapunov-Krasovskii functional and Simulation results are provided to demonstrate the effectiveness of the proposed controller.

Digital design of adaptive repetitive control of linear systems with time‐varying periodic disturbances

“…One of the direct adaptive controls is the model reference adaptive control (MRAC). An adaptive control of timevarying plants has been investigated in [23][24][25][26]. Tsakalis and Ioannou [23,24] proposed a modified MRAC for the plant with slowly time-varying parameters and parameters experience sudden jumps but the discontinuities occur over a sufficient interval of time.…”

“…Mirkin and Gutman [25] proposed robust output-feedback MRAC for linear systems with unknown and time-varying plant delays. Kamali et al [26] further developed robust output-feedback MRAC for compensating both unknown and time-varying plant delays and the presence of actuator failures. However, all these approaches fail to achieve zero tracking error in the presence of periodic disturbances.…”

Adaptive actuator failure compensation design for unknown chaotic multi‐input systems

“…There have been several approaches for adaptive control of systems with actuator failures in different directions including designing fault-tolerant adaptive tracking controllers via state feedback for linear time invariant plants [26][27][28][29][30][31][32][33][34], actuator failure compensation output feedback for output tracking for linear time invariant plants [30,35,36], and state-feedback actuator failure compensation for networked control systems [37]. On the other hand, the compensation of actuator failures for nonlinear systems has been also investigated extensively (see [38] and the references therein).…”