Adaptive Robust Fault-Tolerant Control for Linear MIMO Systems with Unmatched Uncertainties

In this paper, two novel fault-tolerant control design approaches are proposed for linear MIMO systems with actuator additive faults, multiplicative faults and unmatched uncertainties. For time-varying multiplicative and additive faults, new adaptive laws and additive compensation functions are proposed. A set of conditions is developed such that the unmatched uncertainties are compensated by actuators in control. On the other hand, for unmatched uncertainties with their projection in unmatched space being not zero, based on a (vector) relative degree condition, additive functions are designed to compensate for the uncertainties from output channels in presence of actuator faults. The developed fault-tolerant control schemes are applied to two aircraft systems to demonstrate the efficiency of the proposed approaches

Active Fault Tolerant Control of MuPAL-a Using Sliding Modes

This is the author accepted manuscript. The final version is available from IEEE via the DOI in this recordThis paper proposes a simple adaptive sliding mode observer to estimate the effectiveness level of actuators and uses this information as part of an active fault tolerant controller. These observers create an FDI scheme at a 'local' level and the effectiveness estimates are used to drive the online control allocation component in the overall scheme. The approach has been tested on a model of JAXA's MuPAL-a experimental aircraft. The nonlinear simulation results, in fault free and faulty situations, show the efficacy of the scheme. Furthermore, the proposed sliding mode observer has been tested offline using previously collected MuPAL-a flight data and good results are achieved.European Union Horizon 2020Japan New Energy and Industrial Technology Development Organizatio

Development and Evaluation of an Integral Sliding Mode Fault Tolerant Control Scheme on the RECONFIGURE Benchmark

This is the author accepted manuscript. The final version is available from Wiley via the DOI in this record.This paper describes the development, application and evaluation of a linear parameter-varying integral sliding mode control allocation scheme to the RECONFIGURE benchmark model to deal with an actuator failure/fault scenario. The proposed scheme has the capability to maintain close to nominal (fault free) load factor control performance in the face of elevator failures/faults, by including a retro-fitted integral sliding mode term and then re-routing (via control allocation) the augmented control signal to healthy elevators without reconfiguring the baseline controller. In order to mitigate any chattering appearing in the elevator demands, the retro-fitted signal is based on a super-twisting sliding mode structure. This produces a control signal which is continuous and does not have the discontinuous switching nature of traditional sliding mode schemes. The scheme is evaluated using an industrial Functional Engineering Simulator developed as part of the RECONFIGURE project. Monte-Carlo campaign results are shown to demonstrate the performance of the proposed scheme.The work in this paper is supported by EU-FP7 Grant (FP7-AAT-2012-314544): RECONFIGUR