Fault-Tolerant Control Allocation for Overactuated Nonlinear Systems

作者：Cristofaro Andrea^*; Polycarpou Marios M.; Johansen Tor Arne

来源：Asian Journal of Control, 2018, 20(2): 621-634.

DOI：10.1002/asjc.1619

• Control allocation
• fault-tolerant control
• nonlinear systems

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.

• 出版日期2018-3