par Casavola, Alessandro;Garone, Emanuele 
Référence International journal of robust and nonlinear control, 20, 17, page (1958-1980)
Publication Publié, 2010
Référence International journal of robust and nonlinear control, 20, 17, page (1958-1980)
Publication Publié, 2010
Article révisé par les pairs
| Résumé : | This paper presents a fault-tolerant adaptive control allocation scheme for overactuated systems subject to loss of effectiveness actuator faults. The main idea is to use an ‘ad hoc’ online parameters estimator, coupled with a control allocation algorithm, in order to perform online control reconfiguration whenever necessary. Time-windowed and recursive versions of the algorithm are proposed for nonlinear discrete-time systems and their properties analyzed. Two final examples have been considered to show the effectiveness of the proposed scheme. The first considers a simple linear system with redundant actuators and it is mainly used to exemplify the main properties and potentialities of the scheme. In the second, a realistic marine vessel scenario under propeller and thruster faults is treated in full details. |
