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Direct adaptive-state feedback control schemes are developed for linear time-invariant plants with actuator failures with characterizations that some of the plant inputs are stuck at some fixed or varying values which cannot be influenced by control action. Conditions and controller structures for achieving plant-model state matching in the presence of actuator failures are derived. Adaptive laws are designed for updating the controller parameters when both the plant parameters and actuator-failure parameters are unknown. Closed-loop stability and asymptotic-state tracking are ensured. Simulation results show that desired system performance is achieved with the developed adaptive actuator failure compensation control designs.
Tao et al. (2001) studied this question.