Adaptive Backstepping Actuator Failure Compensation for a Class of Nonlinear Systems under Relaxed Conditions

摘要：

An adaptive backstepping output-feedback compensation control scheme is proposed for a class of nonlinear systems with actuator failures. The assumption on the sign of high frequency gain is removed. To achieve this objective, a new linearly parameterized model is established. The Nussbaum gain approach is utilized to cope with the completely unknown high frequency gains. The boundedness of all the closed-loop signals and asymptotic output tracking are guaranteed. The benefits of the proposed design method are demonstrated by a numerical example and its simulation results.

关键词： Adaptive control Actuator failure Backstepping Nonlinear system Nussbaum gain

作者: ZHANG Zhengqiang SHAO Hanyong SHEN Hao ZONG Guangdeng

作者单位: School of Electrical Engineering and Automation, Qufu Normal University, Rizhao 276826, P. R. China School of Electrical Engineering and Information, Anhui University of Technology, Ma’an shan 243002,

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 619-624

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）