State Feedback Designs for State Tracking
In this chapter, we solve the adaptive actuator failure compensation problems for linear time-invariant systems with unknown actuator failures and unknown dynamics, using state feedback for state tracking. In Section 2.1, the plant-model state matching conditions, controller structure, and adaptive designs are presented for a linear time-invariant system with up to m − 1 (where m is the total number of actuators) actuator failures characterized by some of the plant inputs being stuck at some unknown fixed or varying values that cannot be influenced by control action, for example, the “lock-inplace” type of actuator failures. Adaptive actuator failure designs for systems with up to m − 1 parametrizable time-varying failures and up to m − 1 unparametrizable time-varying failures are developed in Section 2.2 and Section 2.3, respectively. In Section 2.4, parametrization and design results such as plant-model matching and adaptive controller structure are extended to the case when the state reference model system has multiple inputs, which allows more freedom in characterizing desired system behavior. In Section 2.5, necessary and sufficient plant-model matching conditions, and adaptive control designs for systems with up to m − q, 1 ≤ q ≤ m − 1, lock-in-place actuator failures are derived and the effectiveness of adaptive compensation is verified by simulation results from Boeing 747 lateral control.
KeywordsAdaptive Control Adaptive Controller State Tracking Adaptive Control Scheme Actuator Failure
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