Fault-tolerant control allocation for over-actuated discrete-time systems

In this paper, a fault-tolerant control allocation scheme is proposed for a class of over-actuated discrete-time systems. Firstly, an indirect adaptive controller is designed which consists of a parameter updating law to estimate unknown model parameters and a control law based on the estimated model parameters to achieve a desired tracking performance. Meanwhile, the control law is treated as the input of control allocation module to carry out an effective distribution to the physical actuators. Then, a control allocation algorithm is developed, which includes a fixed allocation law and an adaptive allocation law to compensate for actuator faults, uncertainties and actuator saturations. Finally, a numerical example and an aircraft model are used to illustrate the effectiveness of the proposed methodology.