Fault-tolerant control allocation: An Unknown Input Observer based approach with constrained output fault directions

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to make relevant faults observable. The case study of an overactuated marine vessel supports theoretical developments.

[1]  Ola Härkegård.  Dynamic Control Allocation Using Constrained Quadratic Programming , 2002 .

[2]  Tor Arne Johansen,et al.  Fuel Optimal Thrust Allocation in Dynamic Positioning , 2013 .

[3]  Nilanjan Sarkar,et al.  Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and saturation , 2002, IEEE Trans. Robotics Autom..

[4]  Marc Bodson,et al.  Evaluation of optimization methods for control allocation , 2001 .

[5]  A. Casavola,et al.  Fault‐tolerant adaptive control allocation schemes for overactuated systems , 2010 .

[6]  M.L. Corradini,et al.  A fault tolerant sliding mode controller for accommodating actuator failures. , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[7]  Luca Zaccarian,et al.  Dynamic allocation for input redundant control systems , 2009, Autom..

[8]  John E. White,et al.  Detection Filter Design: Spectral Theory and Algorithms , 1986, 1986 American Control Conference.

[9]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[10]  C. Edwards,et al.  Sliding Mode FTC With On-line Control Allocation , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[11]  G. Rizzoni,et al.  An eigenstructure assignment algorithm for the design of fault detection filters , 1994, IEEE Trans. Autom. Control..

[12]  James M. Buffington,et al.  Lyapunov stability analysis of daisy chain control allocation , 1996 .

[13]  Wayne C. Durham.  Constrained Control Allocation , 1992 .

[14]  Gene H. Golub,et al.  Matrix computations , 1983 .

[15]  Bin Jiang,et al.  Reconfigurable Control Allocation against Aircraft Control Effector Failures , 2007, 2007 IEEE International Conference on Control Applications.

[16]  Tor Arne Johansen,et al.  Control allocation - A survey , 2013, Autom..

[17]  Ping Lu,et al.  Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation , 2001 .

[18]  Weiguo Zhang,et al.  Research on allocation efficiency of the redistributed pseudo inverse algorithm , 2010, Science China Information Sciences.

[19]  Tor Arne Johansen,et al.  Fault tolerant control allocation using unknown input observers , 2014, Autom..

[20]  Jie Chen,et al.  Design of unknown input observers and robust fault detection filters , 1996 .

[21]  Youmin Zhang,et al.  Bibliographical review on reconfigurable fault-tolerant control systems , 2003, Annu. Rev. Control..

[22]  Thor I. Fossen,et al.  Robust Control Allocation of Overactuated Ships; Experiments with a Model Ship , 1997 .

[23]  Tor Arne Johansen,et al.  Adaptive control allocation , 2008, Autom..