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Adaptive output feedback design for actuator failure compensation using dynamic bounding: output tracking and an application

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3 Author(s)
Xidong Tang ; Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA ; Gang Tao ; Joshi, S.M.

A new adaptive output feedback design using dynamic bounding is presented for actuator failure compensation of a class of nonlinear systems with unknown nonlinearities bounded by output-dependent functions and dynamic signals. The new features are that desired objectives can be achieved via a Lyapunov based design without using high gain type controllers and that it handles a larger class of systems. An adaptive scheme dealing with unknown actuator failures as well as system uncertainties is developed to achieve desired output tracking and closed-loop stability in spite of actuator failures.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005