Adaptive control for a class of MIMO nonlinear time delay systems against time varying actuator failures

被引：33

作者：

Hashemi, Mahnaz ^{[1
]}

Ghaisari, Jafar ^{[1
]}

Askari, Javad ^{[1
]}

机构：

[1] Isfahan Univ Technol, Dept Elect & Comp Engn, Esfahan 8415683111, Iran

来源：

ISA TRANSACTIONS | 2015年 / 57卷

关键词：

Nonlinear time delay systems; Time varying actuator failure; Multi Input Multi Output; Adaptive control; Backstepping; OUTPUT-FEEDBACK CONTROL; FAULT-TOLERANT CONTROL; H-INFINITY CONTROL; LINEAR-SYSTEMS; COMPENSATION; SCHEME; DESIGN;

D O I：

10.1016/j.isatra.2015.02.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates an adaptive controller for a class of Multi Input Multi Output (MIMO) nonlinear systems with unknown parameters, bounded time delays and in the presence of unknown time varying actuator failures. The type of considered actuator failure is one in which some inputs may be stuck at some time varying values where the values, times and patterns of the failures are unknown. The proposed approach is constructed based on a backstepping design method. The boundedness of all the closed-loop signals is guaranteed and the tracking errors are proved to converge to a small neighborhood of the origin. The proposed approach is employed for a double inverted pendulums benchmark and a chemical reactor system. The simulation results show the effectiveness of the proposed method. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：23 / 42

页数：20

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