S. Jayaram and R.W. Johnson
Robust measures, fault-tolerant control, actuator fault detection,reconfiguration
In this paper, developing a fault-tolerant robust control architecture for a class of non-linear, non-parameterizable, uncertain systems is investigated. Robust measures are developed to identify faculty actuators that would degrade the performance envelopes. These robust measures are in turn used to design a robust fault-tolerant control law which is capable of switching from nominal control law to robust control laws under faulty conditions. It will be shown that the robust control law is capable of switching to redundant backups, thus maintaining the stability and overall performance measures of the system when there is an actuator failure of any kind.
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