Adaptive Compensation for MIMO Nonlinear Systems Against Actuator Failures
In this note, an adaptive backstepping scheme is proposed for a class of multi-input multi-output (MIMO) nonlinear minimum phase systems aiming at accommodating three types of common actuator failures: stuck failure, bias failure and loss of effectiveness failure. These failures are uncertain in failure type, value and time. The scheme ensures all signals boundedness and output asymptotic tracking. An aircraft application illustrates the effectiveness of the given scheme.
KeywordsAdaptive backstepping Actuator failure MIMO nonlinear systems Output tracking
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