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Virtual Grouping based adaptive actuator failure compensation for MIMO nonlinear systems

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

A new control design technique called virtual grouping is presented to handle actuator redundancy and failures for multiple-input-mutliple-output (MIMO) systems, enlarging the set of compensable actuator failures. An adaptive compensation scheme is thus developed for a class of nonlinear MIMO systems to ensure closed-loop signal boundedness and asymptotic output tracking despite unknown actuator failures. Simulation results are given to show the effectiveness of the adaptive design.

Published in:

IEEE Transactions on Automatic Control  (Volume:50 ,  Issue: 11 )