A parameter estimation based adaptive actuator failure compensation control scheme |
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| Authors: | Gang Tao Ruiyun Qi Chang Tan |
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| Institution: | 1. Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22904, USA;College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China
2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P. R. China |
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| Abstract: | An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method, by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters. A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern, time and values. A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation. A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures, which is verified by simulation results. |
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| Keywords: | actuator failure compensation adaptive control failure pattern and values parameter estimation stability and tracking uncertainty parametrization |
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