A Fault Tolerant Direct Control Allocation Scheme with Integral Sliding Modes
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The FTC scheme described in this chapter looks at the possibility of introducing fault tolerance without having information about actuator effectiveness levels . Here the idea of direct control allocation is incorporated within the ISM/FTC framework. Achieving performance close to the nominal and maintaining overall closed-loop stability in the face of actuator faults/failures and in the presence of aerodynamic disturbances (i.e. wind gusts) and sensor noise is the main objective. An LMI based procedure is described to synthesise the controller parameters, and a rigorous closed-loop stability analysis is carried out in the presence of unmatched uncertainty for a suitable set of actuator faults/failures . The FTC scheme is compared in simulation with the one from Chap. 3 by considering the same manoeuvre on the RECOVER benchmark model in the presence of wind gusts and sensor noise.
KeywordsFeedback Gain Sensor Noise Full Column Rank Virtual Control Control Allocation
- 1.Edwards, C., Lombaerts, T., Smaili, H.: Fault Tolerant Flight Control: A Benchmark Challenge, vol. 399. Springer, Berlin (2010)Google Scholar