Xidong Tang, Ph.D
Electrical &
Controls Integration Lab
GM R&D and
Planning
Mail Code 480-106-390
Warren MI 48090
Tel: 586-986-5016
Fax: 586-986-3003
Email: xidong.tang@gm.com
o Ph.D. Dissertation Abstract and Outline (Advisor: Dr. Gang Tao)
o Links
Adaptive
Control of Systems with Actuator Failures
Gang Tao, Shuhao Chen, Xidong Tang, and Suresh M. Joshi
315
pages, hardcover, ISBN: 1-85233-788-5, March 2004
Publisher: Springer-Verlag
Available on Amazon - Click
here
Book Description: When an
actuator fails, chaos or calamity can often ensue. It is because the actuator
is the final step in the control chain, when the control system’s
instructions are made physically real that failure can be so important and hard
to compensate for. When the nature or location of the failure is unknown, the
offsetting of consequent system uncertainties becomes even more awkward.
Adaptive Control of Systems with Actuator Failures centers on
counteracting situations in which unknown control inputs become indeterminately
unresponsive over an uncertain period of time by adapting the responses of
remaining functional control systems. Both “lock-in-place” and
varying-value failures are dealt with. The results presented demonstrate: the
existence of nominal plant-model matching controller structures with associated
matching conditions for all possible failure patterns; the choice of a
desirable adaptive controller structure; derivation of novel error models in
the presence of failures; the design of adaptive laws allowing controllers to
respond to combinations of uncertainties stemming from activator failures and
system parameters. Adaptive Control of Systems with Actuator Failures will be
of significance to control engineers generally and especially to both academics
and industrial practitioners working on safety-critical systems or those in
which full-blown fault identification and diagnosis is either too time
consuming or too expensive.
This book presents our recent research results in designing and analyzing adaptive control schemes for systems with unknown actuator failures and unknown parameters. The main feature of the adaptive actuator failure compensation approach developed in this book is that no explicit fault detection and diagnosis procedure is used for failure compensation. An adaptive law automatically adjusts the controller parameters based on system response errors, so that the remaining functional actuators can be used to accommodate the actuator failures and systems parameter uncertainties.
o
Journal Papers
1. X. D. Tang and G. Tao,
“An adaptive output feedback controller using dynamic bounding
with an aircraft control application,” International Journal of Adaptive Control and Signal Processing, 2009.
2. Y. Liu, X. D. Tang,
G. Tao, and S. M. Joshi,
“Adaptive compensation of aircraft actuation failures using an engine
differential model,” IEEE
Transactions on Control Systems Technology
, 2008.
3. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive multivariable control of nonlinear systems
with actuator failures and an application to flight control,” Automatica
, 2007.
4. G. Tao, X. D. Tang,
S. H. Chen, J. T. Fei, and S. M. Joshi,
“Adaptive failure compensation of two-state actuators for a morphing
aircraft lateral model,” IEEE
Transactions on Control Systems Technology
, 2006.
5. X. D. Tang, G. Tao,
and S. M. Joshi, “Virtual grouping based adaptive actuator failure
compensation for MIMO nonlinear systems,” IEEE Transactions on Automatic Control, 2005.
6. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive output feedback actuator failure compensation
for a class of nonlinear systems,” International Journal of Adaptive
Control and Signal Processing, vol. 19, pp. 419–444, 2005.
7. X. D. Tang, G. Tao,
L. F. Wang, and J. A. Stankovic, “Robust and
adaptive actuator failure compensation designs for a rocket fairing
structural-acoustic model,” IEEE
Transactions on Aerospace and Electronic Systems, vol. 40, no. 4, pp. 1359–1366, 2004.
8. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive actuator failure compensation for parametric
strict feedback systems and an aircraft application,” Automatica,
vol. 39, no. 11, pp. 1975–1982,
2003.
9. G. Tao, X. D. Tang,
and S. M. Joshi, “Adaptive output rejection of unmatched input
disturbances,” Systems and Control Letters, vol. 47, no. 1, pp. 25–35, September 2002.
o
Conference Papers
1.
X. D. Tang, G. Tao, and S. M. Joshi, “Adaptive
Output Feedback Design for Actuator Failure Compensation Using Dynamic Bounding:
Output Tracking and An Application,” Proceedings of the 2005 American Control Conference, pp. 3186–3191, Portland, Oregon, 2005.
2.
X. D. Tang, G. Tao, and S. M. Joshi, “Adaptive
Output Feedback Design for Actuator Failure Compensation Using Dynamic
Bounding: Output Regulation,” Proceedings of the 2005 American Control Conference, pp. 3315–3320, Portland, Oregon, 2005.
3.
Y. Liu, X. D. Tang, G. Tao, and S. M. Joshi,
“Adaptive failure compensation control of autonomous robotic systems:
application to a precision pointing hexapod,” Proceedings of the 2005 AIAA Infotech@Aerospace,
4.
Y. Liu, X. D. Tang, G. Tao, and S. M. Joshi,
“Adaptive failure compensation for aircraft flight control using engine
differentials: regulation, ” Proceedings of the 2005 AIAA Infotech@Aerospace,
5.
X. D. Tang, G. Tao, and S. M. Joshi,
“Adaptive output feedback actuator failure compensation for a class of
state-dependent nonlinear systems,” Proceedings of the
42nd IEEE Conference on Decision and Control, pp. 1681–1686,
6.
X. D. Tang, G. Tao, and S. M. Joshi, “Adaptive
compensation of actuator failures for nonlinear MIMO systems under relaxed
design conditions,” Proceedings of the 2003 American Control
Conference, pp. 5123–5128,
Denver, CO, USA, June 2003.
7.
L. F. Wang, G. Tao, J. A. Stankovic,
and X. D. Tang, “Real-time design and simulation of actuator failure
compensation for rocket fairing vibration reduction,” Proceedings of
the 2003 American Control Conference, pp. 515–520, Denver, CO, USA, June 2003.
8.
E. F. Kececi, X. D. Tang, and
G. Tao, “Adaptive actuator failure compensation for concurrently actuated
manipulators,” Proceedings of the 5th IFAC Symposium on Fault
Detection, Supervision and Safety of Technical Processes, pp. 411–416, Washington, D.C., USA,
June 2003.
9.
E. F. Kececi, X. D. Tang, and
G. Tao, “Adaptive actuator failure compensation for cooperating multiple
manipulator systems,” Proceedings of the 5th IFAC Symposium on Fault
Detection, Supervision and Safety of Technical Processes, pp. 417–422, Washington, D.C., USA,
June 2003.
10. L. F. Wang, X. D.
Tang, G. Tao, and J. A. Stankovic, “Actuator
failure compensation schemes for vibration control of a rocket fairing
model,” Proceedings of the 5th IFAC Symposium on Fault Detection,
Supervision and Safety of Technical Processes, pp. 175–180, Washington, D.C., USA,
June, 2003.
11. X. D. Tang, G. Tao,
and S. M. Joshi, “Compensation of nonlinear MIMO systems for uncertain
actuator failures with an application to aircraft control,” Proceedings
of the 41st IEEE Conference on Decision and Control, pp. 1245–1250, Las Vegas, NV, USA,
December 2002.
12. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive actuator failure compensation for
parametric-strict-feedback systems and an aircraft application,” Proceedings
of the 2002 AIAA Guidance, Navigation, and Control Conference,
13. X. D. Tang, G. Tao,
and S. M. Joshi, “An adaptive control scheme for output feedback
nonlinear systems with actuator failures,” Proceedings of the 15th
International Federation of Automatic Control World Congress, T-Tu-A03,
14. X. D. Tang and G.
Tao, “Adaptive actuator failure compensation for feedback linearizable systems,” Proceedings of the 4th
World Congress on Intelligent Control and Automation (WCICA'02),
15. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive control of parametric-strict-feedback
nonlinear systems with actuator failures,” Proceedings of the
40th IEEE Conference on Decision and Control, pp. 1613–1614,
16. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive actuator failure compensation control of
parametric-strict-feedback systems with zero dynamics,” Proceedings of
the 40th IEEE Conference on Decision and Control, pp. 2031–2036,
17. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive actuator failure compensation for nonlinear
systems,” Proceedings of the 2001 International Symposium on Adaptive
and Intelligent Systems and Control,
18. G. Tao, X. D. Tang,
and S. M. Joshi, “Output tracking actuator failure compensation
control,” Proceedings of the 2001 American Control Conference, pp.
1821–1826, Arlington, VA,
USA, June 2001.
19. X. D. Tang, G. Tao,
and S. M. Joshi, “Adaptive actuator failure compensation: nonlinear
dynamics,” Proceedings of the 35th Annual Conference on Information
Sciences and Systems, vol. II, pp. TP6: 685–690,
o
Reports
“Robust
adaptive control in the presence of uncertainties and failures,”
quarterly reports for the National Aeronautics and Space Administration,
September 2000 – August 2005.
Abstract: Actuator failures have damaging
effect on the performance of control systems, leading to undesired system
behavior or even instability. Actuator failures are unknown in terms of failure
time instants, failure patterns, and failure parameters. For system safety and
reliability, the compensation of actuator failures is of both theoretical and
practical significance. This dissertation is to further the study of adaptive
designs for actuator failure compensation to nonlinear systems. In this
dissertation a theoretical framework for adaptive control of nonlinear systems
with actuator failures and system uncertainties is established. The
contributions are the development of new adaptive nonlinear control schemes to
handle unknown actuator failures for convergent tracking performance, the
specification of conditions as a guideline for applications and system designs,
and the extension of the adaptive nonlinear control theory. In the dissertation,
adaptive actuator failure compensation is studied for several classes of
nonlinear systems. In particular, adaptive state feedback schemes are developed
for feedback linearizable systems and parametric
strict-feedback systems. Adaptive output feedback schemes are deigned for
output-feedback systems and a class of systems with unknown state-dependent
nonlinearities. Furthermore, adaptive designs are addressed for MIMO systems
with actuator failures, based on two grouping techniques: fixed grouping and virtual
grouping. Theoretical issues such as controller structures, actuation schemes,
zero dynamics, observation, grouping conditions, closed-loop stability, and
tracking performance are extensively investigated. For each scheme, design
conditions are clarified and detailed stability and performance analysis is
presented. A variety of applications including a wing-rock model, twin otter
aircraft, hypersonic aircraft, and cooperative multiple manipulators are
addressed with simulation results showing the effectiveness of the proposed
adaptive compensation schemes.
Outline:
Abstract
1.
Introduction
1.1. Research Motivation
1.2. Literature Overview
1.3. Dissertation
Outline
2. Problem Formulation
and Background
2.1. Control Problem
2.2. Background
2.2.1. Adaptive Control
2.2.2. Related Work in the
Linear Case
2.2.3. Nonlinear Control
2.2.4. Feedback Linearizable Systems
2.2.5. Parametric
Strict-Feedback Systems
2.2.6. Output-Feedback
Systems
3. Designs for
Feedback Linearizable Systems
3.1. Problem Statement
3.2. An Adaptive
Compensation Design
3.3. A Design with
Relaxed Conditions
4. Designs for Parametric
Strict-Feedback Systems without Zero Dynamics
4.1. Problem Statement
4.1.1. Actuation Model I
4.1.2. Actuation Model II
4.2. Design for
Actuation Model I
4.2.1. Output Matching
Design
4.2.2. Adaptive Design
4.3. Design for
Actuation Model II
4.3.1. Output Matching
Design
4.3.2. Adaptive Design
4.4. Simulation Study
5. Designs for
Parametric Strict-Feedback Systems with Zero Dynamics
5.1. Problem Statement
5.2. Adaptive
Compensation Designs
5.2.1. An Adaptive
Compensation Design
5.2.2. A Design with
Relaxed Conditions
5.3. An Application to A
Twin Otter Aircraft
5.4. Simulation Results
6. Design for
Output-Feedback Systems
6.1. Problem Statement
6.2. Adaptive
Compensation Design
6.2.1. Observer Design
6.2.2. Backstepping Design
6.3. Stability Analysis
7. Design for Systems
with State-Dependent Nonlinearities
7.1. Problem Statement
7.2. Adaptive
Compensation Design
7.2.1. State Observation
Scheme
7.2.2. Adaptive Backstepping Design
7.2.3. Stability Analysis
7.3. An Application to A
Hypersonic Aircraft
7.3.1. Aircraft Dynamic
Model
7.3.2. Adaptive Design
7.3.3. Stability Analysis
7.3.4. Simulation Results
8. Designs for MIMO
Systems
8.1. Problem Statement
8.2. Fixed-Grouping-Based
Design
8.3. An Application to A
Nonlinear Aircraft Model
8.4. Virtual-Grouping-Based
Design
8.4.1. Virtual Grouping
8.4.2. Main Result
8.4.3. Simulation Study
8.5. An Application of
Virtual Grouping to Cooperating Multiple Manipulators
9. Conclusions
References
o
Louis T. Rader Graduate Research Award,
o
Full Member, Sigma Xi, The Scientific Research Society.
o
Student Member, IEEE.
o
Active Reviewer for IEEE
and IFAC, Journals and
conferences.
Electrical and
Computer Engineering at UVA