Abstract
In this paper, an adaptive fuzzy control scheme is developed for a class of uncertain multi-input multi-output (MIMO) nonlinear systems with uncertain actuator failures. Within this scheme, a fixed grouping of redundant actuators and a proportional actuation scheme for each group are considered. Afterward, a fuzzy system is used for the online approximation of a nominal control vector. The parameter adaptation laws for the nominal controller are driven by the prediction error, which is defined as the difference between the unknown nominal controller and the fuzzy controller. The proposed controller can compensate for both total and partial loss of effectiveness failure types. Closed-loop system stability and convergence properties of the tracking errors are proved based on Lyapunov theory. A piecewise analysis is carried out to prove that these properties hold despite the presence of parameter jumps caused by abrupt failures. A simulation study is carried out on a redundant joint two-link robot manipulator with joint failures at each link. Simulation results show the effectiveness of the proposed control scheme.
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