Robust Adaptive Actuator Failure Compensation of MIMO Systems with Unknown State Delays

Iranian Journal of Electrical and Electronic Engineering

F. Sheikholeslam¹  M. Kamali¹  J. Askari¹ 

[1] Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan, Iran.;

关键词: Multivariable State Delay Systems;    Adaptive Control;    Actuator Failure Compensation.;   

DOI  :  

来源: DOAJ

【 摘 要 】

In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assumptions and the SDU factorization method of the high frequency gain matrix is employed to drive the suitable form of the error equation.  The two component controller structure with an integral term is used in order to compensate the effect of unknown state delay and external disturbance. Using a suitable Lyapunov-Krasovskii functional, it is shown that despite existing external disturbance and actuator failures, all closed loop signals are bounded and the plant Output asymptotically tracks the output of a stable reference model. Simulation results are provided to demonstrate the effectiveness of the proposed theoretical results.

【 授权许可】

Unknown