Abstract This paper studies design and implementation of an enhanced multivariable adaptive control scheme for an uncertain nonlinear process exposed to actuator faults. For adaptive fault compensation, a model reference adaptive control (MRAC) strategy is utilized as main controller. A new adaptation algorithm making possible to improve transient performance of adaptive control is integrated to the controller. With the help of further modifications, some restrictive conditions on multivariable adaptive design are relaxed so that the system requires less plant information. The resulting controller has a simpler structure than the other matrix factorization based controllers. At the final stage of design, a robust adaptive control scheme is obtained with consideration of practical implementation problems such as sensor noises, external disturbances and unmodeled​ system dynamics. It is proved that the controller guarantees closed-loop signal boundedness and asymptotic output tracking. Real-time experiment results acquired from quadruple tank benchmark system are presented in order to exhibit the effectiveness of the proposed scheme.

中文翻译：

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具有执行器故障的过程的鲁棒自适应容错控制

摘要 本文研究了一种针对致动器故障的不确定非线性过程的增强型多变量自适应控制方案的设计和实现。对于自适应故障补偿，模型参考自适应控制 (MRAC) 策略被用作主控制器。控制器集成了一种新的自适应算法，可以提高自适应控制的瞬态性能。在进一步修改的帮助下，放宽了对多变量自适应设计的一些限制条件，使系统需要更少的工厂信息。由此产生的控制器具有比其他基于矩阵分解的控制器更简单的结构。在设计的最后阶段，考虑到传感器噪声、外部干扰和未建模的系统动力学。证明该控制器保证了闭环信号有界性和渐近输出跟踪。展示了从四重罐基准系统获得的实时实验结果，以展示所提出方案的有效性。