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SUMMARY This paper presentsan adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of(More)
— An aircraft model that incorporates independently adjustable engine throttles and ailerons is employed to develop an adaptive control scheme in the presence of actuator failures. This model captures the key features of aircraft flight dynamics when in the engine differential mode. Based on this model an adaptive feedback control scheme for asymptotic(More)
A new adaptive actuator failure compensation scheme using output feedback is presented in this paper for a enlarged class of nonlinear systems with state-dependent nonlineari-ties, which are bounded by both linear parameterized static functions and dynamic signals. By introducing the dynamic bounding technique to construct a backstepping control law, the(More)
A new adaptive output feedback design using dynamic bounding is presented for actuator failure compensation of a class of nonlinear systems with unknown nonlinearities bounded by output-dependent functions and dynamic signals. The new features are that desired objectives can be achieved via a Lya-punov based design without using high gain type controllers(More)
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