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arXiv · 1306.5369

Fault-Tolerant Control Allocation: an Unknown Input Observer based approach

Andrea Cristofaro·Tor Arne Johansen
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Abstract

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.

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Andrea Cristofaro, Tor Arne Johansen. 2013-06-23. Fault-Tolerant Control Allocation: an Unknown Input Observer based approach. https://arxiv.org/abs/1306.5369

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