Control allocation-based fault tolerant control

Publication Type:
Journal Article
Automatica, 2019, 103 pp. 408 - 417
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© 2019 Elsevier Ltd This paper describes a novel scheme for fault tolerant control using a robust optimal control design method. This scheme can also be employed as actuator redundancy management for over-actuated linear systems. In contrast to many existing methods in the literature, this scheme can be applied to systems whose control input matrix cannot be factorised into two matrices whose ranks are equal and less than the minimum of the number of columns and rows of the input matrix. The so-called virtual control, in this scheme, is calculated using a robust ℋ 2 -based feedback design approach constructed to be robust against uncertainties emanating from visibility of the control allocator to the controller and imperfection in the estimated effectiveness gain. Then, using a new control allocation scheme along with a novel Tikhonov-based re-distributor mechanism, the obtained virtual control signal is re-distributed among remaining (redundant or non-faulty) set of actuators. As the proposed scheme is modular-based, it can be employed as a real-time fault tolerant control scheme with no need to reconfigure the controller in the case of actuator faults or failures. The effectiveness of the proposed scheme is demonstrated by a numerical example.
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