In this paper, an active fault tolerant control scheme based on Dynamic Control Allocation method for Octorotor UAVs is developed. A Sliding Mode Observer is used to detect online any fault or failure affecting the UAV during flight. Whenever a fault or a total failure of a rotor is detected, the gain vector of the dynamic control allocator is updated resulting in the redistribution of the cont...

Mechanisms of fault tolerance to actuator faults in a control structure with a predictive constrained set-point optimizer are proposed. The structure considered consists of a basic feedback control layer and a local supervisory set-point optimizer which executes as frequently as the feedback controllers do with the aim to recalculate the set-points both for constraint feasibility and economic p...

This paper presents a new Fault Tolerant Control (FTC) methodology for a class of LPV descriptor systems that are represented under a polytopic LPV form. The aim of this FTC strategy is to compensate the effects of time-varying or constant actuator faults by designing an Adaptive Polytopic Observer (APO) which is able to estimate both the states of the system and the magnitude of the actuator f...

In this paper we develop a globally stabilizing stability-based switching controller for a three-state lumped parameter centrifugal compressor surge model. The proposed model involves pressure and mass flow compression system dynamics as well as spool dynamics to account for the influence of speed transients on the compression surge dynamics. The proposed nonlinear switching controller architec...

The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple...

Process industry has experienced important changes over the last two decades. The development of new technologies has made automated systems more complex and, eventually, more vulnerable to faults. Fault-tolerant operation in the presence of actuator faults requires some form of redundancy, especially if it is necessary to keep the system running until the next scheduled maintenance. This perio...

A vehicle active suspension system, in comparison with its counterparts, plays a crucial role in adequately guarantee the stability of the vehicle and improve the suspension performances. With a full understanding of the state of the art in vehicle control systems, this thesis identifies key issues in robust control design for active suspension systems with uncertainty, contributes to enhance t...

in this paper the design of a biped robot actuated with shape memory alloy (sma) springs with minimum degrees of freedom is presented. sma springs are a class of smart materials that are known for their high power to mass and volume ratios. it was shown that utilizing spring type of smas have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

This paper presents a practical method for generating high-performance control laws which are guaranteed to be stabilizing in the presence of known input constraints. We address the class of smooth nonlinear systems which are affine in the control with non-smooth (rectangular or polytopic) actuator constraints and a known control Lyapunov function. We present a result which uses a complete stat...

Problems in robotics and biomechanics such as tra-jectory planning or resolution of redundancy can be eeectively solved using optimal control. Such systems are often subject to unilateral constraints. Examples include tasks involving contacts (e.g., walking, running , multiingered or multiarm manipulation), and other tasks that may not involve contacts but in which the system state or the input...