Flatness-based trajectory planning to improve actuator fault-tolerance capability

This paper investigates the flatness-based trajec- tory planning/re-planning in the presence of faults. Under fault-tolerance framework, the considered method improves the post-fault management of the faulty systems. Rather than only modifying the controller, this paper highlights how re-planning the trajectory according to the remaining resources in the system allows an efficient fault-tolerance strategy. The trajectory planning problem is formulated as an optimization problem by using flatness and the develo- ped approach is applied to a simplified satellite system for illustration.