Virtual Grouping Based Adaptive Actuator Failure Compensation for MIMO Nonlinear Systems

摘要

A new control design technique called virtual grouping is presented to handle actuator redundancy and failures for multiple-input-multiple-output (MIMO) systems, enlarging the set of compensable actuator failures. An adaptive compensation scheme is thus developed for a class of nonlinear MIMO systems to ensure closed-loop signal boundedness and asymptotic output tracking despite unknown actuator failures. Simulation results are given to show the effectiveness of the adaptive design.