Volume 13, Number 2 (June 2017)                   IJEEE 2017, 13(2): 183-193 | Back to browse issues page

DOI: 10.22068/IJEEE.13.2.183

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Kamali M, Sheikholeslam F, Askari J. Robust Adaptive Actuator Failure Compensation of MIMO Systems with Unknown State Delays. IJEEE. 2017; 13 (2) :183-193
URL: http://ijeee.iust.ac.ir/article-1-989-en.html

Abstract:   (589 Views)

In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assumptions and the SDU factorization method of the high frequency gain matrix is employed to drive the suitable form of the error equation.  The two component controller structure with an integral term is used in order to compensate the effect of unknown state delay and external disturbance. Using a suitable Lyapunov-Krasovskii functional, it is shown that despite existing external disturbance and actuator failures, all closed loop signals are bounded and the plant Output asymptotically tracks the output of a stable reference model. Simulation results are provided to demonstrate the effectiveness of the proposed theoretical results.

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Type of Study: Research Paper | Subject: Adaptive Control
Received: 2016/09/1 | Accepted: 2017/05/7 | Published: 2017/05/7

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