Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 62, Issue 1, Pages 385-392Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2016.2524202
Keywords
Actuator failures; adaptive control; nonlinear systems; unknown control direction
Funding
- National Natural Science Foundation of China [61304083, 61273141]
- National Basic Research Program of China (973 Program) [2014CB046406]
- Doctoral Fund of Ministry of Education [20131102120007]
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In this note, a novel adaptive compensation control scheme is proposed for a class of non-linear systems with unknown control direction and a possibly infinite number of unknown actuator failures. By introducing a bound estimation approach, high-order Lyapunov functions and a Nussbaum function with faster growth rate, the obstacle caused by unknown failures and unknown control direction is successfully circumvented and all signals of the closed-loop system are proved to be globally uniformly bounded. Moreover, the proposed scheme is able to steer the tracking error into a predefined small residue set. Simulation results are presented to illustrate the effectiveness of the proposed scheme.
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