零动态参数严格反馈系统作动器故障自适应补偿控制

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.980550

Xidong Tang, G. Tao, S. Joshi

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引用次数: 6

摘要

研究了可转换为零动态参数严格反馈形式的非线性系统的致动器失效补偿问题。在执行器故障和系统参数不确定的情况下，提出了直接自适应补偿控制方案，以保证输出的渐近跟踪和系统的稳定。研究了自适应执行器故障补偿的两种主要情况:具有稳定零动态的系统和具有额外稳定控制的系统。阐明了适于作动器失效补偿系统的设计条件。

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Adaptive actuator failure compensation control of parametric strict-feedback systems with zero dynamics

Actuator failure compensation for nonlinear systems which can be transformed into parametric strict-feedback form with zero dynamics is investigated. Direct adaptive compensation control schemes are developed to ensure asymptotic output tracking and stabilize the system despite the uncertainties in actuator failures as well as in system parameters. Two main cases are studied for adaptive actuator failure compensation: systems with stable zero dynamics, and systems with extra controls for stabilization. Design conditions on systems suitable for actuator failure compensation are clarified.

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Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

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