Adaptive Actuator Failure Compensation of Uncertain Nonlinear Systems with Dead-Zone Inputs

摘要

—As is well known, dead-zone nonlinearity often exists in practical actuators and unknown actuator failures may occur during system operation. However, available results based on adaptive approaches to compensate unknown failures of such actuators are still very limited. In this paper, we address such a problem by considering a class of uncertain nonlinear systems with dead-zone hysteresis nonlinearities inputs. An adaptive control scheme is proposed by using backstepping technology to compensate the uncertainties caused by unknown failures of dead-zone actuators. The boundedness of all signals is established for the closed loop system and the desired output tracking performance is maintained for any unknown actuator failure.