Abstract
A feedback linearization based adaptive control scheme is developed for multivariable nonlinear systems with redundant actuators subject to uncertain failures and unknown unmatched input disturbances. Such an adaptive controller contains a direct adaptive actuator failure compensator to compensate the uncertain actuator failure, a nonlinear feedback to linearize the nonlinear dynamics, and a linear feedback to stabilize the linearized system. Based on the feedback linearization design, a nominal output rejection scheme is first developed, for which the relative degree characterisation of the control and disturbance system models from multivariable nonlinear systems is specified as a key design condition for this disturbance rejection design. With direct control signal adaptation, the adaptive failure compensation design ensures closed-loop stability and asymptotic output tracking in the presence of actuator failure uncertainties. Simulation results are presented to verify the desired system performance with adaptive actuator failure and disturbance compensation.
Published Version
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