Adaptive Compensation for MIMO Nonlinear Systems Against Actuator Failures

  • Hao Ren
  • Gang Zhu
  • Yan LinEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


In this note, an adaptive backstepping scheme is proposed for a class of multi-input multi-output (MIMO) nonlinear minimum phase systems aiming at accommodating three types of common actuator failures: stuck failure, bias failure and loss of effectiveness failure. These failures are uncertain in failure type, value and time. The scheme ensures all signals boundedness and output asymptotic tracking. An aircraft application illustrates the effectiveness of the given scheme.


Adaptive backstepping Actuator failure MIMO nonlinear systems Output tracking 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.School of AutomationBeihang UniversityBeijingChina
  2. 2.Institute of Electronic Engineering, China Academy of Engineering PhysicsMianyangChina

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