An Adaptive State Feedback Control Scheme with Sensor Failure Compensation

In this paper, a new adaptive control tracking problem, with uncertain plant dynamics and uncertain state sensor failures, is addressed. A new nominal compensation controller structure, constructed by the state sensor output directly, is developed. The new controller structure has the capability of ensuring plant-model matching while compensating all possible uncertain sensor failures, which relaxes some requirements of traditional fault-tolerant control techniques. The new adaptive control scheme guarantees asymptotic output tracking and closed-loop signal boundedness, in the presence of the various uncertainties. A simulation study is conducted to verify the effectiveness of the adaptive control scheme.