On-line Multiple-model Based Adaptive Control Reconfiguration for a Class of Non-linear Control Systems

Based on the model-matching strategy, an adaptive control reconfiguration method for a class of nonlinear control systems is proposed by using the multiple-model scheme. Instead of requiring the nominal and faulty nonlinear systems to match each other directly in some proper sense, three sets of LTI models are employed to approximate the faulty, reconfigured and nominal nonlinear systems respectively with respect to the on-line information of the operating system, and a set of compensating modules are proposed and designed so as to make the local LTI model approximating to the reconfigured nonlinear system match the corresponding LTI model approximating to the nominal nonlinear system in some optimal sense. The compensating modules are designed by the Pseudo-Inverse Method based on the local LTI models for the nominal and faulty nonlinear systems. Moreover, these modules should update corresponding to the updating of local LTI models, which validations are determined by the model approximation errors and the optimal index of local design. The test on a nonlinear ship propulsion system shows the promising potential of this method for system reconfiguration