Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space

摘要

Fault-tolerant control systems are vital in many industrial systems. Actuator redundancy is employed in advanced control strategies to increase system maneuverability, flexibility, safety, and fault tolerability. Management of control signals among redundant actuators is the task of control allocation algorithms. Simplicity, accuracy and low computational cost are key issues in control allocation implementations. In this paper, an adaptive control allocation method based on the pseudo inverse along the null space of the control matrix (PAN) is introduced in order to adaptively tolerate actuator faults. The proposed method solves the control allocation problem with an exact solution and optimized l norm of the control signal. This method also handles input limitations and is computationally efficient. Simulation results are used to show the effectiveness of the proposed method. Copyright (c) 2016 John Wiley & Sons, Ltd.