An adaptive actuator failure compensation scheme for a class of nonlinear MIMO systems
This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input–multi-output systems with redundant actuators subject to uncertain failures. The design method is to estimate the failure pattern parameters and the failure signal parameters first, a...
Saved in:
| Published in | Journal of the Franklin Institute Vol. 350; no. 9; pp. 2423 - 2441 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.11.2013
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 0016-0032 1879-2693 |
| DOI | 10.1016/j.jfranklin.2013.01.016 |
Cover
| Abstract | This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input–multi-output systems with redundant actuators subject to uncertain failures. The design method is to estimate the failure pattern parameters and the failure signal parameters first, and then use the parameter estimates to construct the adaptive failure compensation controller, the control law calculation is done simultaneously with parameter estimation without explicit failure detection. Closed-loop signal boundedness and asymptotic output tracking, despite the actuator failure uncertainties, are ensured analytically and verified by simulation results from its application to attitude control of a near space vehicle dynamic model. |
|---|---|
| AbstractList | This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input multi-output systems with redundant actuators subject to uncertain failures. The design method is to estimate the failure pattern parameters and the failure signal parameters first, and then use the parameter estimates to construct the adaptive failure compensation controller, the control law calculation is done simultaneously with parameter estimation without explicit failure detection. Closed-loop signal boundedness and asymptotic output tracking, despite the actuator failure uncertainties, are ensured analytically and verified by simulation results from its application to attitude control of a near space vehicle dynamic model. |
| Author | Yao, X. Qi, R. Tao, G. Jiang, B. |
| Author_xml | – sequence: 1 givenname: X. surname: Yao fullname: Yao, X. organization: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China – sequence: 2 givenname: G. surname: Tao fullname: Tao, G. email: gt9s@virginia.edu organization: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China – sequence: 3 givenname: R. surname: Qi fullname: Qi, R. organization: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China – sequence: 4 givenname: B. surname: Jiang fullname: Jiang, B. organization: College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, China |
| BookMark | eNqNkE1PAyEQhonRxFr9DXL0shXKlqUHD43xo0lNL-qV0NkhUnehAjXx30ut8eBFJ5NMBuZ5Yd4TcuiDR0LOORtxxuXlerS20fjXzvnRmHExYrykPCADrpppNZZTcUgGrBxVjInxMTlJaV3ahjM2IM8zT01rNtm9IzWQtyaHSK1x3TYihdBv0CeTXfA0wQv2SG25NxQ6kxINlpbflJfRRPowf1jS9JEy9umUHFnTJTz7rkPydHvzeH1fLZZ38-vZogJRq1wpZsc1wsoa0ap6opqJEWYqlZLQNlO1YkI13FrWMBDYAEAt65Us0VrgrVRiSC72upsY3raYsu5dAuw64zFsk-YFmKiJVLKMXu1HIYaUIloNLn9tlmNZV3Omd37qtf7xU-_81IyX3PHNL34TXW_ixz_I2Z7E4sS7w6gTOPSArYsIWbfB_anxCaZZmDY |
| CitedBy_id | crossref_primary_10_1080_23307706_2014_885292 crossref_primary_10_1016_j_ifacsc_2022_100201 crossref_primary_10_1016_j_ifacol_2017_08_1681 crossref_primary_10_1109_TIE_2015_2399400 crossref_primary_10_1016_j_jfranklin_2014_11_019 crossref_primary_10_1002_acs_2715 crossref_primary_10_1002_oca_2162 crossref_primary_10_1080_00207179_2017_1403050 crossref_primary_10_1109_CJECE_2016_2641011 crossref_primary_10_1049_iet_cta_2016_0287 crossref_primary_10_1016_j_amc_2017_09_011 crossref_primary_10_1016_j_isatra_2015_02_012 crossref_primary_10_1109_ACCESS_2018_2857504 crossref_primary_10_1109_ACCESS_2018_2791475 crossref_primary_10_1016_j_automatica_2014_10_015 crossref_primary_10_1109_TNNLS_2016_2619914 crossref_primary_10_1108_AEAT_05_2022_0130 crossref_primary_10_1109_TCYB_2020_3020961 crossref_primary_10_1016_j_jfranklin_2025_107557 crossref_primary_10_1002_rnc_3392 crossref_primary_10_1002_rnc_6583 crossref_primary_10_1016_j_ejcon_2016_03_002 crossref_primary_10_1016_j_jfranklin_2024_107202 crossref_primary_10_1109_ACCESS_2025_3531559 |
| Cites_doi | 10.1007/s00034-010-9239-8 10.1109/9.898697 10.1109/87.918902 10.1109/TAC.2006.878732 10.1109/TAC.2004.832201 10.1109/TFUZZ.2010.2058808 10.2514/2.4769 10.1115/DSCC2008-2237 10.1109/TIE.2003.809390 10.2514/2.5083 10.1109/9.728875 10.1016/j.automatica.2009.11.014 10.1109/ACC.1998.703075 |
| ContentType | Journal Article |
| Copyright | 2013 The Franklin Institute |
| Copyright_xml | – notice: 2013 The Franklin Institute |
| DBID | AAYXX CITATION 7SP 7TB 8FD FR3 KR7 L7M |
| DOI | 10.1016/j.jfranklin.2013.01.016 |
| DatabaseName | CrossRef Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database Civil Engineering Abstracts Advanced Technologies Database with Aerospace |
| DatabaseTitle | CrossRef Civil Engineering Abstracts Engineering Research Database Technology Research Database Mechanical & Transportation Engineering Abstracts Advanced Technologies Database with Aerospace Electronics & Communications Abstracts |
| DatabaseTitleList | Civil Engineering Abstracts |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1879-2693 |
| EndPage | 2441 |
| ExternalDocumentID | 10_1016_j_jfranklin_2013_01_016 S0016003213000331 |
| GroupedDBID | --K --M -DZ -~X .~1 0R~ 1B1 1RT 1~. 1~5 29L 4.4 41~ 457 4G. 5GY 5VS 6TJ 7-5 71M 8P~ 9JN 9JO AAAKF AAAKG AACTN AAEDT AAEDW AAIAV AAIKJ AAKOC AALRI AAOAW AAQFI AAQXK AARIN AAXUO AAYFN ABAOU ABBOA ABEFU ABFRF ABJNI ABMAC ABTAH ABUCO ABXDB ABYKQ ACAZW ACCUC ACDAQ ACGFO ACGFS ACIWK ACNCT ACNNM ACRLP ACZNC ADEZE ADGUI ADJOM ADMUD ADTZH AEBSH AECPX AEFWE AEKER AETEA AFDAS AFFNX AFKWA AFTJW AGHFR AGUBO AGYEJ AHHHB AHJVU AHZHX AIALX AIEXJ AIGVJ AIKHN AITUG AJBFU AJOXV ALMA_UNASSIGNED_HOLDINGS AMFUW AMRAJ AOUOD APLSM ARUGR AXJTR BJAXD BKOJK BLXMC CS3 D1Z EBS EFJIC EFLBG EJD EO8 EO9 EP2 EP3 F5P FA8 FDB FEDTE FGOYB FIRID FNPLU FYGXN G-2 G-Q G8K GBLVA GBOLZ HAMUX HMJ HVGLF HZ~ H~9 IHE J1W JJJVA KOM LY7 M26 M41 MHUIS MO0 MVM N9A O-L O9- OAUVE OZT P-8 P-9 P2P PC. Q38 R2- RIG ROL RPZ SCC SDF SDG SES SET SEW SME SPC SPCBC SSB SSD SST SSV SSW SSZ T5K TN5 UHS VOH WH7 WUQ XOL XPP ZCG ZMT ZY4 ~02 ~G- AATTM AAXKI AAYWO AAYXX ABDPE ABWVN ACLOT ACRPL ADNMO ADXHL AEIPS AFJKZ AGQPQ AHPAA AIIUN ANKPU APXCP CITATION EFKBS ~HD 7SP 7TB 8FD FR3 KR7 L7M |
| ID | FETCH-LOGICAL-c348t-80f24ecbfa3d845875a3a96886cd798b03871ff070c3e7ccc464b6666dfc1d683 |
| IEDL.DBID | .~1 |
| ISSN | 0016-0032 |
| IngestDate | Tue Sep 30 21:51:18 EDT 2025 Thu Apr 24 22:58:38 EDT 2025 Wed Oct 01 02:19:24 EDT 2025 Fri Feb 23 02:33:26 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 9 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c348t-80f24ecbfa3d845875a3a96886cd798b03871ff070c3e7ccc464b6666dfc1d683 |
| Notes | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
| PQID | 1464585686 |
| PQPubID | 23500 |
| PageCount | 19 |
| ParticipantIDs | proquest_miscellaneous_1464585686 crossref_citationtrail_10_1016_j_jfranklin_2013_01_016 crossref_primary_10_1016_j_jfranklin_2013_01_016 elsevier_sciencedirect_doi_10_1016_j_jfranklin_2013_01_016 |
| ProviderPackageCode | CITATION AAYXX |
| PublicationCentury | 2000 |
| PublicationDate | November 2013 2013-11-00 20131101 |
| PublicationDateYYYYMMDD | 2013-11-01 |
| PublicationDate_xml | – month: 11 year: 2013 text: November 2013 |
| PublicationDecade | 2010 |
| PublicationTitle | Journal of the Franklin Institute |
| PublicationYear | 2013 |
| Publisher | Elsevier Ltd |
| Publisher_xml | – name: Elsevier Ltd |
| References | Zhang, Polycarpou, Parisini (bib14) 2010; 46 Tao, Chen, Tang, Joshi (bib4) 2004 Wu, Lam, Parisini (bib10) 2008; 22 S. Gayaka, B. Yao, An adaptive robust scheme for multiple actuator fault accommodation, in: Proceedings of ASME Dynamic Systems and Control Conference, 2008. Diao, Passino (bib8) 2001; 9 Jiang, Staroswiecki, Cocquempot (bib13) 2006; 51 Yen, Ho (bib7) 2003; 50 Hess, Wells (bib9) 2003; 26 Xu, Jiang, Tao, Gao (bib12) 2011; 30 Y. Ji, Q. Zong, L. Dou, Z. Zhao, Adaptive back-stepping control of a generic near space vehicle, in: Proceedings of the 29th Chinese Control Conference, 2010, pp. 277–281. Zhang, Pariaini, Polycarpou (bib11) 2004; 49 Yang, Zhang, Lam, Wang (bib3) 1998; 43 Proceedings of the AIAA Guidance, Navigation and Control Conference, 2008. Krstiá, Kanellakopoulos, Kokotoviá (bib18) 1995 J.D. Boskovic, S.H. Yu, R.K. Mehra, A stable scheme for Automatic control reconfiguration in the presence of actuator failures, in: Proceedings of the American Control Conference, 1998, pp. 2455–2459. Burken, Lu (bib15) 2001; 24 Tao, Joshi, Ma (bib2) 2001; 46 J.D. Boskovic, S.H. Yu, R.K. Mehra, Stable adaptive fault-tolerant control of overactuated aircraft using multiple models, switching and tuning, in Jiang, Gao, Shi, Xu (bib17) 2010; 18 Burken (10.1016/j.jfranklin.2013.01.016_bib15) 2001; 24 Wu (10.1016/j.jfranklin.2013.01.016_bib10) 2008; 22 Jiang (10.1016/j.jfranklin.2013.01.016_bib13) 2006; 51 Yen (10.1016/j.jfranklin.2013.01.016_bib7) 2003; 50 Zhang (10.1016/j.jfranklin.2013.01.016_bib14) 2010; 46 Diao (10.1016/j.jfranklin.2013.01.016_bib8) 2001; 9 Tao (10.1016/j.jfranklin.2013.01.016_bib4) 2004 Tao (10.1016/j.jfranklin.2013.01.016_bib2) 2001; 46 Hess (10.1016/j.jfranklin.2013.01.016_bib9) 2003; 26 Krstiá (10.1016/j.jfranklin.2013.01.016_bib18) 1995 Jiang (10.1016/j.jfranklin.2013.01.016_bib17) 2010; 18 10.1016/j.jfranklin.2013.01.016_bib1 Xu (10.1016/j.jfranklin.2013.01.016_bib12) 2011; 30 10.1016/j.jfranklin.2013.01.016_bib16 Zhang (10.1016/j.jfranklin.2013.01.016_bib11) 2004; 49 Yang (10.1016/j.jfranklin.2013.01.016_bib3) 1998; 43 10.1016/j.jfranklin.2013.01.016_bib5 10.1016/j.jfranklin.2013.01.016_bib6 |
| References_xml | – volume: 51 start-page: 1578 year: 2006 end-page: 1583 ident: bib13 article-title: Fault accommodation for a class of nonlinear systems publication-title: IEEE Transactions on Automatic Control – reference: J.D. Boskovic, S.H. Yu, R.K. Mehra, Stable adaptive fault-tolerant control of overactuated aircraft using multiple models, switching and tuning, in: – volume: 49 start-page: 1259 year: 2004 end-page: 1274 ident: bib11 article-title: Adaptive fault-tolerant control of nonlinear uncertain systems publication-title: IEEE Transactions on Automatic Control – reference: Proceedings of the AIAA Guidance, Navigation and Control Conference, 2008. – reference: S. Gayaka, B. Yao, An adaptive robust scheme for multiple actuator fault accommodation, in: Proceedings of ASME Dynamic Systems and Control Conference, 2008. – reference: J.D. Boskovic, S.H. Yu, R.K. Mehra, A stable scheme for Automatic control reconfiguration in the presence of actuator failures, in: Proceedings of the American Control Conference, 1998, pp. 2455–2459. – volume: 18 start-page: 1000 year: 2010 end-page: 1007 ident: bib17 article-title: Adaptive fault-tolerant tracking control of near-space vehicle using Takagi–Sugeno fuzzy models publication-title: IEEE Transactions on Fuzzy Systems – year: 2004 ident: bib4 article-title: Adaptive Control of Systems with Actuator Failures – volume: 43 start-page: 1588 year: 1998 end-page: 1593 ident: bib3 article-title: Reliable control using redundant controllers publication-title: IEEE Transactions on Automatic Control – volume: 26 start-page: 452 year: 2003 end-page: 462 ident: bib9 article-title: Sliding mode control applied to reconfigurable flight control design publication-title: Journal of Guidance, Control, and Dynamics – reference: Y. Ji, Q. Zong, L. Dou, Z. Zhao, Adaptive back-stepping control of a generic near space vehicle, in: Proceedings of the 29th Chinese Control Conference, 2010, pp. 277–281. – volume: 9 start-page: 494 year: 2001 end-page: 509 ident: bib8 article-title: Stable fault-tolerant adaptive fuzzy/neural control for turbine engine publication-title: IEEE Transactions on Control Systems Technology – year: 1995 ident: bib18 article-title: Nonlinear and Adaptive Control Design – volume: 50 start-page: 296 year: 2003 end-page: 312 ident: bib7 article-title: Online multiple-model-based fault diagnosis and accommodation publication-title: IEEE Transactions on Industrial Electronics – volume: 24 start-page: 482 year: 2001 end-page: 493 ident: bib15 article-title: Two reconfigurable flight-control design methods publication-title: AIAA Journal of Guidance, Control, and Dynamics – volume: 30 start-page: 655 year: 2011 end-page: 672 ident: bib12 article-title: Fault tolerant control for a class of nonlinear systems with application to near space vehicle publication-title: Circuits Systems and Signal Processing – volume: 46 start-page: 290 year: 2010 end-page: 299 ident: bib14 article-title: Fault diagnosis of a class of nonlinear uncertain systems with Lipschitz nonlinearities using adaptive estimation publication-title: Automatica – volume: 46 start-page: 78 year: 2001 end-page: 95 ident: bib2 article-title: Adaptive state feedback and tracking control of systems with actuator failures publication-title: IEEE Transactions on Automatic Control – volume: 22 start-page: 931 year: 2008 end-page: 990 ident: bib10 article-title: Sliding mode control of switched hybrid systems with time-varying delay publication-title: International Journal of Adaptive Control and Signal Processing – volume: 30 start-page: 655 year: 2011 ident: 10.1016/j.jfranklin.2013.01.016_bib12 article-title: Fault tolerant control for a class of nonlinear systems with application to near space vehicle publication-title: Circuits Systems and Signal Processing doi: 10.1007/s00034-010-9239-8 – volume: 46 start-page: 78 issue: 1 year: 2001 ident: 10.1016/j.jfranklin.2013.01.016_bib2 article-title: Adaptive state feedback and tracking control of systems with actuator failures publication-title: IEEE Transactions on Automatic Control doi: 10.1109/9.898697 – volume: 9 start-page: 494 issue: 3 year: 2001 ident: 10.1016/j.jfranklin.2013.01.016_bib8 article-title: Stable fault-tolerant adaptive fuzzy/neural control for turbine engine publication-title: IEEE Transactions on Control Systems Technology doi: 10.1109/87.918902 – volume: 51 start-page: 1578 issue: 9 year: 2006 ident: 10.1016/j.jfranklin.2013.01.016_bib13 article-title: Fault accommodation for a class of nonlinear systems publication-title: IEEE Transactions on Automatic Control doi: 10.1109/TAC.2006.878732 – year: 1995 ident: 10.1016/j.jfranklin.2013.01.016_bib18 – volume: 49 start-page: 1259 issue: 8 year: 2004 ident: 10.1016/j.jfranklin.2013.01.016_bib11 article-title: Adaptive fault-tolerant control of nonlinear uncertain systems publication-title: IEEE Transactions on Automatic Control doi: 10.1109/TAC.2004.832201 – volume: 18 start-page: 1000 issue: 5 year: 2010 ident: 10.1016/j.jfranklin.2013.01.016_bib17 article-title: Adaptive fault-tolerant tracking control of near-space vehicle using Takagi–Sugeno fuzzy models publication-title: IEEE Transactions on Fuzzy Systems doi: 10.1109/TFUZZ.2010.2058808 – volume: 24 start-page: 482 issue: 3 year: 2001 ident: 10.1016/j.jfranklin.2013.01.016_bib15 article-title: Two reconfigurable flight-control design methods publication-title: AIAA Journal of Guidance, Control, and Dynamics doi: 10.2514/2.4769 – ident: 10.1016/j.jfranklin.2013.01.016_bib6 doi: 10.1115/DSCC2008-2237 – ident: 10.1016/j.jfranklin.2013.01.016_bib5 – volume: 50 start-page: 296 issue: 2 year: 2003 ident: 10.1016/j.jfranklin.2013.01.016_bib7 article-title: Online multiple-model-based fault diagnosis and accommodation publication-title: IEEE Transactions on Industrial Electronics doi: 10.1109/TIE.2003.809390 – volume: 26 start-page: 452 issue: 3 year: 2003 ident: 10.1016/j.jfranklin.2013.01.016_bib9 article-title: Sliding mode control applied to reconfigurable flight control design publication-title: Journal of Guidance, Control, and Dynamics doi: 10.2514/2.5083 – ident: 10.1016/j.jfranklin.2013.01.016_bib16 – volume: 43 start-page: 1588 year: 1998 ident: 10.1016/j.jfranklin.2013.01.016_bib3 article-title: Reliable control using redundant controllers publication-title: IEEE Transactions on Automatic Control doi: 10.1109/9.728875 – year: 2004 ident: 10.1016/j.jfranklin.2013.01.016_bib4 – volume: 22 start-page: 931 issue: 1 year: 2008 ident: 10.1016/j.jfranklin.2013.01.016_bib10 article-title: Sliding mode control of switched hybrid systems with time-varying delay publication-title: International Journal of Adaptive Control and Signal Processing – volume: 46 start-page: 290 issue: 2 year: 2010 ident: 10.1016/j.jfranklin.2013.01.016_bib14 article-title: Fault diagnosis of a class of nonlinear uncertain systems with Lipschitz nonlinearities using adaptive estimation publication-title: Automatica doi: 10.1016/j.automatica.2009.11.014 – ident: 10.1016/j.jfranklin.2013.01.016_bib1 doi: 10.1109/ACC.1998.703075 |
| SSID | ssj0017100 |
| Score | 2.1749268 |
| Snippet | This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input–multi-output systems with redundant... This paper develops an adaptive actuator failure compensation scheme for control of a class of nonlinear multi-input multi-output systems with redundant... |
| SourceID | proquest crossref elsevier |
| SourceType | Aggregation Database Enrichment Source Index Database Publisher |
| StartPage | 2423 |
| SubjectTerms | Actuator failure Adaptive control systems Compensation Estimates Failure Mathematical analysis Mathematical models Nonlinearity |
| Title | An adaptive actuator failure compensation scheme for a class of nonlinear MIMO systems |
| URI | https://dx.doi.org/10.1016/j.jfranklin.2013.01.016 https://www.proquest.com/docview/1464585686 |
| Volume | 350 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVESC databaseName: Baden-Württemberg Complete Freedom Collection (Elsevier) customDbUrl: eissn: 1879-2693 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0017100 issn: 0016-0032 databaseCode: GBLVA dateStart: 20110101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier ScienceDirect customDbUrl: eissn: 1879-2693 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0017100 issn: 0016-0032 databaseCode: .~1 dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier SD Complete Freedom Collection [SCCMFC] customDbUrl: eissn: 1879-2693 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0017100 issn: 0016-0032 databaseCode: ACRLP dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier – providerCode: PRVESC databaseName: Elsevier SD Freedom Collection Journals [SCFCJ] customDbUrl: eissn: 1879-2693 dateEnd: 99991231 omitProxy: true ssIdentifier: ssj0017100 issn: 0016-0032 databaseCode: AIKHN dateStart: 19950101 isFulltext: true titleUrlDefault: https://www.sciencedirect.com providerName: Elsevier |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LT8MwDI4muMAB8RTjMQWJa9napGnLbZqYNtDGhaHdoiRNpE3QTXtc-e3YfUwMIe2A1EurRqns5LPdfLYJuY80oD6PhGfSqOVxoy1sKZd6zGhsEZiGNsX_kIOh6I348zgc10inyoVBWmWJ_QWm52hdPmmW0mzOJxPM8fXBWrMAD2RaLM-l5jzCLgYPXxuah4_Vawo0hsgZ3t7ieE1d2RkdOV4sr9-Jjc__tlC_sDo3QN1jclR6jrRdfNwJqdnslBz-qCd4Rt7bGVWpmiOEUYWpIRBRU6cmyD2nyB6HoDVXBYWg1n5aCi4rVdSgC01njmZF4Qy1oIP-4JUWZZ6X52TUfXrr9LyycYJnGI9XYHVcwK3RTrE05iGEJIqpRMSxAI0kscYja9852O2G2cgYwwXXEMeI1Bk_FTG7IHswob0k1AWxBjVH4HWEXEWRxr7AiU0CEzhurK4TUQlLmrKqODa3-JAVfWwqN1KWKGXZ8uESddLaDJwXhTV2D3mstCG31ogE-N89-K7Sn4QdhMciKrOz9RKDH5BRKGJx9Z8JrskB3hV5ijdkb7VY21twWFa6ka_IBtlv9196w28P1uyC |
| linkProvider | Elsevier |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1LTwIxEG4IHtSD8RnxWROvK-y22128ESMBBbyA4da03TaBKBAeV3-7M_sgYkw4mOxpd5tuZtpv5tvOg5D7SAPq80h4JolqHjfawpZyiceMxhaBSWgT_A_Z7YnWgL8Mw2GJPBW5MBhWmWN_hukpWud3qrk0q7PRCHN8fbDWLMADmRrDXOodHgYRMrCHr3Wch4_lazI4BuoMr28EeY1d3hodg7xYWsATO5__baJ-gXVqgZqH5CB3HWkj-7ojUrKTY7L_o6DgCXlvTKhK1AwxjCrMDQFKTZ0aYfA5xfBxYK2pLiiwWvtpKfisVFGDPjSdOjrJKmeoOe22u280q_O8OCWD5nP_qeXlnRM8w3i8BLPjAm6NdoolMQ-Bkyim6iKOBaikHms8s_adg-1umI2MMVxwDURGJM74iYjZGSnDhPacUBfEGvQcgdsRchVFGhsD1209MIHjxuoKEYWwpMnLimN3iw9ZxI-N5VrKEqUsaz5cokJq64GzrLLG9iGPhTbkxiKRgP_bB98V-pOwhfBcRE3sdLVA9gMyCkUsLv4zwS3ZbfW7Hdlp914vyR4-yZIWr0h5OV_Za_BelvomXZ3fkpHuFw |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=An+adaptive+actuator+failure+compensation+scheme+for+a+class+of+nonlinear+MIMO+systems&rft.jtitle=Journal+of+the+Franklin+Institute&rft.au=Yao%2C+X.&rft.au=Tao%2C+G.&rft.au=Qi%2C+R.&rft.au=Jiang%2C+B.&rft.date=2013-11-01&rft.pub=Elsevier+Ltd&rft.issn=0016-0032&rft.eissn=1879-2693&rft.volume=350&rft.issue=9&rft.spage=2423&rft.epage=2441&rft_id=info:doi/10.1016%2Fj.jfranklin.2013.01.016&rft.externalDocID=S0016003213000331 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0016-0032&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0016-0032&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0016-0032&client=summon |