An adaptive actuator failure compensation scheme for a class of nonlinear MIMO systems

This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input-multi-output systems with redundant actuators subject to uncertain failures. The design method is to estimate the failure pattern parameters and the failure signal parameters first, and then use the parameter estimates to construct the adaptive failure compensation controller, the control law calculation is done simultaneously with parameter estimation without explicit failure detection. Closed-loop signal boundedness and asymptotic output tracking, despite the actuator failure uncertainties, are ensured analytically and verified by simulation results from its application to attitude control of a near space vehicle dynamic model.