Title of Paper:Optimal adaptive tracking control for a class of MIMO uncertain nonlinear systems with actuator failures

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Affiliation of Author(s):自动化学院

Journal:PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017)

Key Words:MIMO nonlinear systems actuator failure optimal adaptive compensation control

Abstract:An optimal adaptive actuator failure compensation control scheme is proposed for a class of multi-input multi-output (MIMO) uncertain nonlinear continuous-time systems with redundant actuators subject to uncertain failures. Only single neural network is used in the proposed adaptive dynamic programming (ADP) scheme to simultaneously learn the infinite horizon cost function and the approximate optimal control input that minimizes the Hamilton-Jacobi-Bellman (HJB) equation. Besides, an uncertainty estimator is designed to estimate the uncertain dynamics and an adaptive parameter adjustment law is designed to estimate the actuator failure coefficients. Stability analysis and simulation results can demonstrate the effectiveness of the proposed method.

ISSN No.:2161-2927

Translation or Not:no

Date of Publication:2017-01-01

Co-author:Wu, Xue,Shuang, Weifang

Correspondence Author:Zhang S J