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Disturbance Observer-Based Fault-Tolerant Adaptive Control for Nonlinearly Parameterized Systems


Abstract:

This paper aims at the fault-tolerant adaptive control for the nonlinearly parameterized systems with mismatched disturbances. A novel adaptive control scheme is develope...Show More

Abstract:

This paper aims at the fault-tolerant adaptive control for the nonlinearly parameterized systems with mismatched disturbances. A novel adaptive control scheme is developed in this paper by adding a power integrator technique. The mismatched disturbances are estimated by a designed disturbance observer. A new fault-tolerant control method is proposed to deal with the uncertain actuator faults including actuator stuck. The proposed adaptive controller ensures that the closed-loop system is input-to-state stable. Simulation results for a robotic arm system are given to present the effectiveness of the developed control technique.
Published in: IEEE Transactions on Industrial Electronics ( Volume: 66, Issue: 11, November 2019)
Page(s): 8681 - 8691
Date of Publication: 03 January 2019

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