Journal
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
Volume 20, Issue 17, Pages 1958-1980Publisher
WILEY
DOI: 10.1002/rnc.1561
Keywords
control allocation; adaptive control; fault-tolerant control
Funding
- MIUR
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This paper presents a fault-tolerant adaptive control allocation scheme for overactuated systems subject to loss of effectiveness actuator faults. The main idea is to use an 'ad hoc' online parameters estimator, coupled with a control allocation algorithm, in order to perform online control reconfiguration whenever necessary. Time-windowed and recursive versions of the algorithm are proposed for nonlinear discrete-time systems and their properties analyzed. Two final examples have been considered to show the effectiveness of the proposed scheme. The first considers a simple linear system with redundant actuators and it is mainly used to exemplify the main properties and potentialities of the scheme. In the second, a realistic marine vessel scenario under propeller and thruster faults is treated in full details. Copyright (C) 2010 John Wiley & Sons, Ltd.
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