An adaptive control scheme for systems with unknown actuator failures (Q1614335)

The goal of this paper is to present a new adaptive control scheme for systems with unknown parameters and unknown actuator failures. The authors' previous work has imposed conditions on the system matrices to guarantee closed-loop system stability and asymptotic output tracking. Here, the authors formulate the adaptive actuator failure compensation problem and derive plant-model matching conditions in the presence of actuator failures where some plant outputs are stuck at fixed values (as might, for example, occur during a hydraulic failure). An adaptive actuator compensation control scheme is developed, and its performance is analyzed. The authors prove that closed-loop signals are bounded and that asymptotic output tracking is assured. Simulation results (of a Boeing 747 with a hydraulic rudder failure) illustrate the performance of the adaptive control design.