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Backstepping-Based Adaptive Control for Nonlinear Systems with Actuator Failures and Uncertain Parameters

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Abstract

This paper concerns with the adaptive control problem for nonlinearly parameterized systems with actuator faults. First, to deal with the uncertain parameters, backstepping technique and parameter separation method are combined to construct an adaptive control scheme. Additionally, actuator fault with actuator stuck case considered in this work is a challenging issue. In order to handle the actuator failures, a novel adaptive fault-tolerant control method is proposed. Then, applying the designed adaptive fault-tolerant controller to the nonlinearly parameterized systems, the global stability is ensured and all the signals in the nonlinear systems are bounded. Finally, a simulation example is presented to validate the effectiveness of the control method.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (61803208 and 61601228), and the Natural Science Foundation of Jiangsu Province (BK20180726 and BK20161021), Natural Science Research Project of Jiangsu Higher Education Institutions (18KJB120005).

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  1. School of Electrical and Automation Engineering, Nanjing Normal University, Nanjing, 210023, China

    Wenhui Liu & Fei Xie

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  1. Wenhui Liu
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  2. Fei Xie
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Correspondence to Wenhui Liu.

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Liu, W., Xie, F. Backstepping-Based Adaptive Control for Nonlinear Systems with Actuator Failures and Uncertain Parameters. Circuits Syst Signal Process 39, 138–153 (2020). https://doi.org/10.1007/s00034-019-01185-z

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  • DOI: https://doi.org/10.1007/s00034-019-01185-z

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