Fault-tolerant control allocation for overactuated nonlinear systems
Journal article, Peer reviewed
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Original versionAsian journal of control. 2018, 20 (49), 1-14. 10.1002/asjc.1619
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.