Adaptive fault-tolerant control for multi-input-multi-output minimum-phase systems with actuator failures
多输入多输出最小相位系统的执行器故障自适应容错控制

An adaptive fault-tolerant tracking-control scheme is proposed for a class of multi-input multi-output (MIMO) minimum-phase systems with actuators lock-in-space or/and variant actuator failures. The actuators are classified according to the characteristics of the systems; and neural networks are used to approximate unknown failure-functions of actuators. The model-reference-adaptive fault-tolerant control method is used to design the control law. This control law guarantees the closed-loop systems to be stable and the tracking-errors to be uniformly ultimately bounded. Simulation results show the effectiveness of the proposed method.