Abstract
In this note, a novel adaptive compensation control scheme is proposed for a class of nonlinear systems with unknown control direction and a possibly infinite number of unknown actuator failures. By introducing a bound estimation approach, high-order Lyapunov functions and a Nussbaum function with faster growth rate, the obstacle caused by unknown failures and unknown control direction is successfully circumvented and all signals of the closed-loop system are proved to be globally uniformly bounded. Moreover, the proposed scheme is able to steer the tracking error into a predefined small residue set. Simulation results are presented to illustrate the effectiveness of the proposed scheme.
| Original language | English |
|---|---|
| Article number | 7397932 |
| Pages (from-to) | 385-392 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 62 |
| Issue number | 1 |
| DOIs | |
| State | Published - Jan 2017 |
Keywords
- Actuator failures
- adaptive control
- nonlinear systems
- unknown control direction
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