An Output Integral Sliding Mode FTC Scheme Using Control Allocation
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In this chapter a fault tolerant control scheme is described for systems where only output information is available. The assumption made in the earlier chapters was that the state information is known and available for the controller design. In this chapter, it is assumed only measured outputs are available and knowledge of the actuator faults or failures is not available from an FDI scheme . A full order linear unknown input observer (UIO) is employed to estimate the system states used in the underlying virtual controller. No attempt is made to estimate the actuator faults or failures (using an FDI scheme ), instead, the robustness properties of the UIO coupled with the ISM components are relied upon. A fixed control allocation scheme (which does not require actuator effectiveness levels W(t)) is used to translate the virtual control signals into physical actuator demands. An LMI procedure is used to synthesise the observer gains and the controller parameters, and a rigorous closed-loop stability analysis is carried out to ensure the stability of the sliding motion in the face of actuator faults and certain failures, provided that redundancy is available in the system. A civil aircraft benchmark model is used to investigate the feasibility of the scheme.
KeywordsProportional Integral Control Unknown Input Proportional Integral Actuator Fault Virtual Control
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