Adaptive Output Feedback Control Using Fault Compensation and Fault Estimation for Linear System with Actuator Failure

The problem of linear systems subject to actuator faults (outage, loss of effectiveness and stuck), parameter uncertainties and external disturbances is considered. An active fault compensation control law is designed which utilizes compensation in such a way that uncertainties, disturbances and the occurrence of actuator faults are account for. The main idea is designing a robust adaptive output feedback controller by automatically compensating the fault dynamics to render the close-loop stability. According to the information from the adaptive mechanism, the updating control law is derived such that all the parameters of the unknown input signal are bounded. Furthermore, a disturbance decoupled fault reconstruction scheme is presented to evaluate the severity of the fault and to indicate how fault accommodation should be implemented. The advantage of fault compensation is that the dynamics caused by faults can be accommodated online. The proposed design method is illustrated on a rocket fairing structural-acoustic model.