Fault tolerant control allocation using Unknown input observers

被引：152

作者：

Cristofaro, Andrea ^{[1
,2
]}

Johansen, Tor Arne ^{[2
]}

机构：

[1] Univ Camerino, Sch Sci & Technol, I-62032 Camerino, MC, Italy

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst, N-7034 Trondheim, Norway

来源：

AUTOMATICA | 2014年 / 50卷 / 07期

关键词：

Fault detection and isolation; Fault-tolerant; Control allocation; Unknown input observers; Overactuated systems;

D O I：

10.1016/j.automatica.2014.05.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 proposed approach consists in tuning the observer parameters in order to make the filters decoupled from faults affecting selected groups of actuators or effectors. 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. (C) 2014 Elsevier Ltd. All rights reserved.

引用

页码：1891 / 1897

页数：7

共 22 条

[1] Sliding mode FTC with on-line control allocation [J].