Fault tolerant control for two collaborative systems using an updating adaptive output regulation scheme and intelligent reconfiguration algorithm

In this paper, a novel collaborative fault tolerant control FTC scheme has been presented. The scheme based on a constant reference output regulation controller and intelligent algorithm to detect and diagnose fault as well as reconfigure the control rules. To reduce the cost of fault diagnoses time and observer complexity, the FTC algorithm has been introduced without fault detection and diagnose observers. The FTC algorithm has been developed based on the residuals and the first order derivative. In addition, to simplify the presentation, only two linearised collaborative subsystems two inverted robots joints arms and two inverted pendulum wheels cart are considered where the position of the second arm of robot has been diagnosed to compensate it through the tuning rules. However, an illustrated example is implemented and studied which reflects that the performance of the two subsystems can be delivering a common working goal through a new fault tolerant control strategy.