Robust Adaptive Control Allocation for a Class of Cascade ODE-String Systems With Actuator Failures

• 成果类型: Article
• 署名作者: Xing, Xueyan; Liu, Jinkun
• 署名单位: Beihang University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3063345
• 发表日期: 2022
• 页码: 1474-1481
• 关键词: actuators; resource management; Adaptive control; control design; uncertainty; Fault tolerant systems; Perturbation methods; Actuator failure compensation; cascade ordinary differential equation (ODE) string system; distributed parameter system; partial differential equation (PDE) string; robust adaptive control allocation

摘要

A robust adaptive control allocation algorithm with actuator failure compensation is presented in this article for a class of cascade ODE-string systems depicted by ordinary differential equations (ODEs) and partial differential equations. The proposed control scheme including actuator fault compensation and allocation algorithm uniformly stabilizes the cascade ODE-string system in the presence of actuator faults, parameter uncertainties and environmental perturbations, and effectively reduces the controller complexity by adaptively grouping redundant actuators. Since this control method needs full-state measurement of the ODE system, it can be regarded as a state-feedback control instead of an output-feedback control. Control design and proof of the closed-loop system stability are implemented by Lyapunov's direct method. Numerical simulations are finally analyzed to illustrate the feasibility of the proposed control scheme.