Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles
UNIVERSITA DELLA CALABRIA RENDE (ITALY)
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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.
- Numerical Mathematics
- Navigation and Guidance