Accession Number : ADA478726


Title :   Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles


Corporate Author : UNIVERSITA DELLA CALABRIA RENDE (ITALY)


Personal Author(s) : Casavola, Alessandro ; Garone, Emanuele


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a478726.pdf


Report Date : 01 Nov 2007


Pagination or Media Count : 17


Abstract : This paper presents an adaptive actuators allocation scheme that is fault-tolerant with respect to actuator faults or loss of effectiveness. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. Two simple algorithms are proposed for nonlinear discrete-time systems. The main properties of the algorithms are summarized in the disturbance-free case and their effectiveness shown by means of two numerical examples.


Descriptors :   *ADAPTIVE CONTROL SYSTEMS , ALGORITHMS , NONLINEAR SYSTEMS , ACTUATORS , AUTONOMOUS NAVIGATION , NUMERICAL METHODS AND PROCEDURES , ONLINE SYSTEMS , FAULT TOLERANT COMPUTING


Subject Categories : Numerical Mathematics
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Distribution Statement : APPROVED FOR PUBLIC RELEASE