Robust adaptive‐sliding mode tracking of state delayed nonlinear plants with actuator failures

Abstract

SUMMARYIn this paper, we develop two sliding mode-model reference adaptive control (MRAC) schemes for a class of delayed nonlinear dynamic systems under actuator failure that are robust with respect to actuator failures, to an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. Appropriate Lyapunov-Krasovskii-type functionals with 'virtual' adaptation gains are introduced to design the adaptation algorithms, and to prove stability. Two different controllers are designed: one with discontinuous and another with continuous control actions, respectively.

Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

“…Due to the unknown failure patterns, times, and values, it has been an important and challenging research problem. Remarkable progress has been made in the area, such as adaptive control [1][2][3][4][5][6][7][8][9][10], sliding-mode based designs [11][12][13][14], switching based designs [15][16][17], fault-detection diagnosis based designs, fuzzy systems based designs, and neuralnetwork based designs. Since adaptive designs use an adaptive controller to accommodate the uncertainties, it has been extensively employed.…”