Accession Number:

ADA478726

Title:

Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

Descriptive Note:

Corporate Author:

UNIVERSITA DELLA CALABRIA RENDE (ITALY)

Report Date:

2007-11-01

Pagination or Media Count:

17.0

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.

Subject Categories:

  • Numerical Mathematics
  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE