title: Adaptive control for a class of MIMO nonlinear time delay systems against time varying actuator failures.
abstract: This paper investigates an adaptive controller for a class of Multi Input Multi Output (MIMO) nonlinear systems with unknown parameters, bounded time delays and in the presence of unknown time varying actuator failures. The type of considered actuator failure is one in which some inputs may be stuck at some time varying values where the values, times and patterns of the failures are unknown. The proposed approach is constructed based on a backstepping design method. The boundedness of all the closed-loop signals is guaranteed and the tracking errors are proved to converge to a small neighborhood of the origin. The proposed approach is employed for a double inverted pendulums benchmark and a chemical reactor system. The simulation results show the effectiveness of the proposed method.
authors: Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran. Electronic address: m.hashemi@ec.iut.ac.ir.
authors: Mahnaz
authors: M
authors: Hashemi
authors: Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran.
authors: Jafar
authors: J
authors: Ghaisari
authors: Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran.
authors: Javad
authors: J
authors: Askari
keywords: Adaptive control; Backstepping; Multi Input Multi Output; Nonlinear time delay systems; Time varying actuator failure