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Fault-tolerant control allocation for overactuated nonlinear systems

Cristofaro, Andrea; Polycarpou, Marios M.; Johansen, Tor Arne
Journal article, Peer reviewed
Accepted version
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URI
http://hdl.handle.net/11250/2474156
Date
2017
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  • Institutt for teknisk kybernetikk [4088]
  • Publikasjoner fra CRIStin - NTNU [41874]
Original version
Asian journal of control. 2018, 20 (49), 1-14.   10.1002/asjc.1619
Abstract
This paper addresses the problem of fault-tolerant control allocation for input affine nonlinear systems. The proposed scheme is divided in three main tasks: fault detection and estimation using a nonlinear observer, fault isolation through a bank of unknown input observers with a resetting policy to reduce the effects of nonlinearities and control reconfiguration based on reduced order allocation. Analytical results regarding the isolability and reconfigurability of actuator faults are derived and a simulation example is used to illustrate the the proposed fault tolerant control methodology.
Publisher
Wiley
Journal
Asian journal of control

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