Robust Adaptive Actuator Failure Compensation of MIMO Systems with Unknown State Delays

ADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF NONLINEAR SYSTEMS WITH UNKNOWN DISTRIBUTED TIME-VARYING DELAYS AND UNKNOWN CONTROL DIRECTIONS

In this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.Based on the backstepping technique, the adaptive fuzzy controller is constructed. The main contributions of the paper...

Adaptive actuator failure compensation for redundant manipulators

This paper presentsan adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this pap...

Robust adaptive compensation of biased sinusoidal disturbances with unknown frequency

The problem of designing an output feedback compensator for any biased sinusoidal disturbance is considered. In this paper, we will develop the approach presented in (Marino et al., 2003). In (Marino et al., 2003) a compensator of order (2n+6) is proposed, which solves the posed problem by using the adaptive observers developed in (Marino and Tomei, 1995; Marino et al., 2001). This problem is s...

Adaptive actuator failure compensation control of uncertain nonlinear systems with guaranteed transient performance

In order to accommodate actuator failures which are uncertain in time, pattern and value, we propose two adaptive backstepping control schemes for parametric strict feedback systems. Firstly a basic design scheme on the basis of existing approaches is considered. It is analyzed that, when actuator failures occur, transient performance of the adaptive system cannot be adjusted through changing c...

Adaptive Actuator Failure Compensation of Uncertain Nonlinear Systems with Dead-Zone Inputs

As is well known, dead-zone nonlinearity often exists in practical actuators and unknown actuator failures may occur during system operation. However, available results based on adaptive approaches to compensate unknown failures of such actuators are still very limited. In this paper, we address such a problem by considering a class of uncertain nonlinear systems with dead-zone hysteresis nonli...

Design of a Model Based Compensator for MIMO Systems with Time Delays and Constrained Inputs