Fault-Tolerant Control Allocation for Overactuated Nonlinear Systems
Ημερομηνία
2018ISSN
1934-6093Source
Asian Journal of ControlVolume
20Issue
2Pages
621-634Google Scholar check
Metadata
Εμφάνιση πλήρους εγγραφήςΕπιτομή
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.