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Adaptive compensation of persistent actuator failures of nonlinear systems

机译：非线性系统持久执行器故障的自适应补偿

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摘要

In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time-varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed-loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.
机译：在本文中，为非线性系统开发了自适应补偿设计，该非线性系统具有来自系统功能的不确定性，并且持久的执行器故障的特性（i）一些未知系统输入被卡住在未知时间瞬间和（ii）的一些未知的固定或变化值中。故障模式始终从一个切换到另一个，交换不会停止。通过不确定的时变非线性系统描述了这种受控设备，研究了一些基于稳健的反馈线性化的故障补偿结果，用于闭环系统稳定和用于一些特定条件的有界输出跟踪。为了在存在持久执行器故障的情况下提高跟踪性能，使用包含在配方中的故障模式和故障时间的故障指示器功能开发了一种新的自适应控制方案。显示了详细的稳定性和跟踪性能。显示仿真结果验证了所提出的自适应致动器故障补偿方法的有效性。

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