Robust Adaptive Control Allocation for a Class of Cascade ODE-String Systems with Actuator Failures

A robust adaptive control allocation algorithm with actuator failure compensation is presented in this paper for a class of cascade ODE-string systems depicted by ordinary differential equations (ODEs) and partial differential equations (PDEs). The proposed control scheme including actuator fault compensation and allocation algorithm uniformly stabilizes the cascade ODE-string system in the presence of actuator faults, parameter uncertainties and environmental perturbations, and effectively reduces the controller complexity by adaptively grouping redundant actuators. Since this control method needs full-state measurement of the ODE system, it can be regarded as a state-feedback control instead of an output-feedback control. Control design and proof of the closed-loop system stability are implemented by Lyapunov's direct method. Numerical simulations are finally analyzed to illustrate the feasibility of the proposed control scheme.