Accommodation of unknown actuator faults using output feedback-based adaptive robust control

摘要

In this paper, we solve the problem of output tracking for linear uncertain systems in the presence of unknown actuator failures using discontinuous projection-based output feedback adaptive robust control (ARC). The faulty actuators are characterized as unknown inputs stuck at unknown values experiencing bounded disturbance and actuators losing effectiveness at unknown instants of time. Many existing techniques to solve this problem use model reference adaptive control (MRAC), which may not be well suited for handling various disturbances and modeling errors inherent to any realistic system model. Robust control-based fault-tolerant schemes have guaranteed transient performance and are capable of dealing with modeling errors to certain degrees. But, the steady-state tracking accuracy of robust controllers, e.g. sliding mode controller, is limited. In comparison, the backstepping-based output feedback adaptive robust fault-tolerant control (ARFTC) strategy presented here can effectively deal with such uncertainties and overcome the drawbacks of individual adaptive and robust controls. Comparative simulation studies are performed on a linearized Boeing 747 model, which shows the effectiveness of the proposed scheme.