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

TL;DR

This paper introduces a fault-tolerant control allocation method using unknown input observers to detect and isolate actuator faults, demonstrated on an overactuated marine vessel, enhancing system reliability.

Contribution

It presents a novel approach combining unknown input observers with control reconfiguration for fault detection in overactuated systems.

Findings

Effective fault detection and isolation demonstrated on marine vessel case study

Enhanced control reconfiguration improves system robustness

Theoretical framework validated through practical application

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.