Control Allocation-based Fault-tolerant Control for Over- actuated Systems with Saturation and Imperfect Fault Information

To guarantee the stability of the over-actuated systems in the presence of actuator faults, saturation and imperfect fault information, two different design methods based on control allocation are provided in this paper, which can estimate optimally the attraction domain of the closed-loop system. By exploiting virtual control concept and adopting the pseudo inverse method for control allocation, the bound of difference between virtual control and desired virtual control is estimated, given a bounded fault diagnosis error. Then, a saturating linear system with bounded disturbance is constructed for the design of the baseline controller, and the attraction domain of the overall system is approached with the ellipsoidal set by state feedback. Two different forms of state feedback are discussed in details for the design of the baseline controller. Finally, the ADMIRE aircraft model is used to test the design techniques. The simulation results demonstrate that the two design methods can cope with the given actuator faults effectively and the stability of the closedloop system can be guaranteed.

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