Adaptive state‐feedback control with sensor failure compensation for asymptotic output tracking

Abstract

SummaryThis paper addresses a new adaptive output tracking problem in the presence of uncertain plant dynamics and uncertain sensor failures. A new unified nominal state‐feedback control law is developed to deal with various sensor failures, which is directly constructed by state sensor outputs. Such a new state‐feedback compensation control law is able to ensure the desired plant‐model matching properties under different failure patterns. Based on the nominal compensation control design, a new adaptive compensation control scheme is proposed, which guarantees closed‐loop signal boundedness and asymptotic output tracking. The new adaptive compensation scheme not only expands the sensor failures types that the system could tolerate but also avoids some signal processing procedures that the traditional fault‐tolerant control techniques are forced to encounter. A complete stability analysis and a representative simulation study are conducted to evaluate the effectiveness of the proposed adaptive compensation control scheme.