A robust adaptive control approach using output feedback for output tracking is developed for discrete-time linear time-invariant systems with uncertain failures of redundant actuators in the presence of the unmodeled dynamics and bounded output disturbance. Such actuator failures are characterized by some unknown inputs stuck at some unknown fixed values at unknown time instants. Technical issues such as plant-model output matching, adaptive controller structure, adaptive parameter update laws, stability and tracking analysis, and robustness of system performance are solved for the discrete-time adaptive actuator failure compensation problem. A case study is conducted for adaptive compensation of rudder servomechanism failures of a Boeing 747 dynamic model presented in discrete time, verifying the desired adaptive system performance in the presence of uncertain actuator failures.
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September 2005
Technical Briefs
Robust Adaptive Control Scheme for Discrete-Time System With Actuator Failures
Juntao Fei,
Juntao Fei
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
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Shuhao Chen,
Shuhao Chen
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
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Gang Tao,
Gang Tao
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
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Suresh M. Joshi
Suresh M. Joshi
NASA Langley Research Center
, Hampton, VA 23681
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Juntao Fei
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
Shuhao Chen
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
Gang Tao
Department of Electrical and Computer Engineering,
University of Virginia
, Charlottesville, VA 22903
Suresh M. Joshi
NASA Langley Research Center
, Hampton, VA 23681J. Dyn. Sys., Meas., Control. Sep 2005, 127(3): 520-526 (7 pages)
Published Online: September 4, 2004
Article history
Received:
March 1, 2004
Revised:
August 18, 2004
Accepted:
September 4, 2004
Citation
Fei, J., Chen, S., Tao, G., and Joshi, S. M. (September 4, 2004). "Robust Adaptive Control Scheme for Discrete-Time System With Actuator Failures." ASME. J. Dyn. Sys., Meas., Control. September 2005; 127(3): 520–526. https://doi.org/10.1115/1.1978912
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