Adaptive actuator failure compensation for a class of nonlinear systems with full state constraints

Abstract

AbstractIn this article, an adaptive compensation scheme is proposed for controlling a class of Brunovsky form systems with unknown parameters and possible actuator failures such that the full state constraints can be achieved. Compared with the previous research, the main advantage of the scheme is that by selecting a set of parameters related to the barrier Lyapunov functions, virtual control signals can be constrained within required boundaries. As a result, the full state constraints and tracking performance constraints can be achieved simultaneously even in the presence of actuator failures. It is shown that with this scheme, all the closed‐loop signals are bounded and the tracking error converges to a residue set that can be made arbitrarily small