An adaptive actuator failure compensation controller using output feedback

An adaptive control scheme using output feedback for output tracking is developed for systems with unknown actuator failures. Such actuator failures are characterized by some unknown inputs stuck at some unknown fixed values at unknown time instants. An effective output feedback controller structure is proposed for actuator failure compensation. When implemented with true matching parameters, the controller achieves desired plant-model output matching. When implemented with adaptive parameter estimates, the controller achieves asymptotic output tracking. A stable adaptive law is derived for parameter adaptation in the presence of parameter uncertainties. Closed-loop signal boundedness and asymptotic output tracking, despite the uncertainties in actuator failures and plant parameters, are ensured analytically and verified by simulation results.