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An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method, by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters. A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern, time and values. A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation. A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures, which is verified by simulation results.