A Stackelberg Differential Game-based Optimal Fault-tolerant Control Method for Over-actuated Systems

This paper focuses on the optimal fault-tolerant control problem for over-actuated systems with actuator faults. Based on Stackelberg differential game, a novel integrated method is put forward where the optimal High-level motion controller serves as the leader to give the virtual control input, and the optimal Low-level fault-tolerant allocation strategy acts as the follower to allocate the virtual control input to actuators. Adaptive Dynamic Programming is used to realize the online solution of such an integrated method. A numerical simulation is presented to verify its feasibility. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)