Fault Tolerant Control for Overactuated-Oversensed Systems using Energetic Based Approach

Document Type : Original Article

Authors

1 Faculty of Electrical and Robotic Engineering, shahrood University of Technology, Shahrood, Iran

2 Faculty of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran

Abstract

This paper presents a fault tolerant approach for overactuated-oversensed systems subject to multiplicative and additive faults. The main idea is to use a reconciliatory unit in charge to discover online the possibly faulty physical sensors and exclude their measures from the generation of the ”virtual” sensors. In the proposed approach, the energetic based approach has been used to estimate the actuator multiplicative faults. In the next step, an unknown input observer has been coupled with the energetic based estimator to estimate sensor multiplicative and additive faults. Finally, the control allocation approach has been used to reach the desire output. Finally, a simulation example is reported in details to show the effectiveness of the scheme.

Keywords

References

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