In this article, adaptive compensation designs are developed for nonlinear systems with uncertainties from the system functions and persistent actuator failures of characterizations that (i) some unknown system inputs are stuck at some unknown fixed or varying values at unknown time instants and (ii) the failure pattern always switches from one to another and the switching does not stop. Such a controlled plant is described by an uncertain time‐varying nonlinear system, and some robust adaptive feedback linearization based failure compensation results are studied for closed‐loop system stabilization and bounded output tracking for some specific conditions. To improve the tracking performance in the presence of persistent actuator failures, a new adaptive control scheme is developed, using the failure indicator function which contains the failure pattern and failure time in the formulation. Detailed stability and tracking performance are shown. Simulation results are shown to verify the effectiveness of the proposed adaptive actuator failure compensation method.

中文翻译：

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非线性系统持续性执行器故障的自适应补偿

在本文中，针对非线性系统开发了自适应补偿设计，该非线性补偿具有系统功能的不确定性和持续性执行器故障的特征，这些特征包括：（i）一些未知的系统输入在未知的瞬间被卡在某些未知的固定值或变化值上，（ii）故障模式总是从一个切换到另一个，并且切换不会停止。这样的受控工厂由不确定的时变非线性系统描述，并且针对某些特定条件，研究了一些基于鲁棒自适应反馈线性化的故障补偿结果，以实现闭环系统稳定和有界输出跟踪。为了在执行器持续出现故障的情况下提高跟踪性能，开发了一种新的自适应控制方案，使用故障指示器功能，该功能在配方中包含故障模式和故障时间。显示了详细的稳定性和跟踪性能。仿真结果表明了所提出的自适应执行器故障补偿方法的有效性。