|
|||||
|
|
Fault‐Tolerant Control Allocation for Overactuated Nonlinear Systems |
|
| Authors: | Andrea Cristofaro Marios M Polycarpou Tor Arne Johansen |
| Affiliation: | 1. School of Science and Technology – Mathematics Division, University of Camerino, Italy;2. KIOS Research and Innovation Center of Excellence, University of Cyprus, Cyprus;3. Department of Electrical and Computer Engineering, University of Cyprus, Cyprus;4. Department of Engineering Cybernetics, Norwegian University of Science and Technology, Norway;5. Centre for Autonomous Marine Operations and Systems (AMOS), Norway |
| 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. |
| Keywords: | Control allocation fault‐tolerant control nonlinear systems |
