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Actuator Failure Compensation Control Scheme of the Nonlinear Triangular Systems by Static Gain Technique

Fei Zhu, Xianfu Zhang*, and Hanfeng Li
International Journal of Control, Automation, and Systems, vol. 18, no. 9, pp.2297-2305, 2020

Abstract : In this paper, the technique of static gain as a new research approach is applied in the nonlinear triangular systems to investigate the issue of actuator fault. By employing the static gain technique, the nonlinear lowertriangular systems are converted into the form which is easy to find its Lyapunov function. The fault parameters of the actuator are subsequently processed by the efficient adaptive estimation tactic, after that, the goal of guaranteeing the global boundness of all closed-loop signals can be achieved by utilizing a state controller with the hyperbolic functions. Moreover, by adopting the same strategy, the actuator failure compensation problem is also solved for the nonlinear upper-triangular systems. Last but not least, the effectiveness of the design scheme is verified by two numerical simulation examples.

Keyword : Actuator failure compensation, adaptive estimation, hyperbolic functions, static gain.

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