Adaptive actuator failure compensation control based on MMST grouping for a class of MIMO nonlinear systems with guaranteed transient performance

Abstract

This paper presents a new adaptive compensation control approach for a class of multi-input multi-output (MIMO) nonlinear systems with actuator failures. In order to enlarge the set of compensable actuator failures, an actuators grouping scheme based on multiple model switching and tuning (MMST) is proposed for the nonlinear MIMO minimum-phase systems with multiple actuator failures. Then, an adaptive compensation scheme based on prescribed performance bound (PPB) which characterises the convergence rate and maximum overshoot of the tracking error is designed for the 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 control design.