Stability analysis of decentralized adaptive backstepping control systems with actuator failures

Abstract

In this paper, the authors analyze the stability of a class of interconnected systems with subsystem unmodeled dynamics and dynamic interactions employing decentralized adaptive controllers designed by Wen, Zhou, and Wang (2008) in the presence of actuator failures. It will be shown that the global stability of the remaining closed-loop system is still ensured and the outputs are also regulated to zero when some subsystems break down.

Adaptive Failure Compensation Control with Redundant Actuators⋆

“…[2004], Wang [2009], Boskovic [2010]), model-predictive control (Almeida [2010]) or intelligent fuzzy/neural control (Boskovic [2002], Yen [2004]). The survey papers (Boskovic [2005], Zhang [2008]) present the most recent bibliographical review of fault-tolerant control systems.…”

Robust Finite-Time Tracking for Uncertain Linear Systems with Actuator Faults

“…On the contrary, adaptive FTC which is a kind of robust technique and a main class of active FTC has been widely used due to its exibility and diversity in design and its ability to handle unknown actuator faults without the need for FDD modules [16][17][18][19][20][21][22][23][24][25][26][27][28]. By considering that the stuck fault is bounded, a robust adaptive FTC scheme was proposed for uncertain linear systems in [16].…”

“…By employing the adaptive backstepping technique, an adaptive control strategy was presented to deal with stochastic LOE faults for half-car active suspension systems in [19]. In [20,21], two adaptive fault-tolerant controllers were developed with LOC faults only. By designing the auxiliary systems, the fault-tolerant constrained controllers were designed to achieve FTC in the presence of input amplitude saturation in [22,23].…”

Adaptive actuator failure compensation for multivariable feedback linearizable systems

“…In and , adaptive observer‐based methods are used to reconstruct the actuator faults and then the control laws are reconfigured using the estimated fault information. Apart from these well‐developed results, adaptive control has also been shown as an effective tool to FTC problems for both linear systems and nonlinear systems . A direct adaptive failure compensation control scheme is developed for a class of canonical nonlinear MIMO systems with uncertain parameters, in the presence of uncertain failures of redundant actuators .…”