Adaptive Actuator Failure Compensation for Multivariable Systems Using A Multiple-Model Design

This paper develops a new adaptive compensation control scheme for multivariable systems with some unknown actuator failures, based on a multiple-model approach. Such a scheme can handle possible structure changes from actuator failures and uncertain parameter changes of multivariable systems. Multiple parametrizations are employed for the system under different actuator failure patterns, each for design of an adaptive compensation control signal for individual pattern. Performance indexes are formed based on normalized estimation errors for all failure patterns and the control signal with best performance is decided to control the system. Such an adaptive multiple-mode design has the potential of fast failure compensation an uncertainty adaptation. A complete design procedure is presented, with clarification and analysis of some key system properties. Simulation results are used to demonstrate the effectiveness of the designed adaptive failure compensation control scheme.