Adaptive Control Allocation for Fault Tolerant Overactuated Autonomous Vehicles

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.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Nov 01, 2007
Accession Number
ADA478726

Entities

People

  • Alessandro Casavola
  • Emanuele Garone

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Algorithms
  • Autonomous Vehicles
  • Closed Loop Systems
  • Computations
  • Computer Programming
  • Control Systems
  • Convergence
  • Design Criteria
  • Estimators
  • Guidance
  • Network Topology
  • Optimization
  • Side Effects
  • Simulations
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Parallel and Distributed Computing.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control