ABSTRACT
This chapter presents two adaptive backstepping control schemes for parametric strict feedback systems with uncertain actuator failures. It is analyzed that, when actuator failures occur, transient performance of the adaptive system cannot be adjusted through changing controller design parameters. Then it presents a modified controller design scheme based on a prescribed performance bound (PPB) which characterizes the convergence rate and maximum overshoot of the tracking error. It is shown that the tracking error satisfies the prescribed performance bound all the time. Simulation studies verify the established theoretical results that the PPB-based scheme can improve transient performance compared with the basic scheme, while both ensure stability and asymptotic tracking with zero steady state error in the presence of uncertain actuator failures. Simulation studies also verify the established theoretical results that the PPB-based scheme can improve transient performance compared with the basic scheme, while both ensure stability and asymptotic tracking with zero steady state error in the presence of uncertain actuator failures.
