This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to make relevant faults observable. The case study of an overactuated marine vessel supports theoretical developments.

Fault Detection in Linear Descriptor Systems Via Unknown Input PI Observer Hwan Seong Kim, Tae Kyeong Yeu, and Shigeyasu Kawaji Abstract: This paper deals with a fault detection algorithm for linear descriptor systems via unknown input PI observer. An unknown input PI observer is presented and its realization conditions is proposed by using the rank condition of system matrices. From the charac...

A new design approach of observer is proposed for generalized dynamical systems with unknown input disturbances. By introducing proportional gain, derivative gain and multiple-integral gains, the estimation error dynamics can be guaranteed to be internally proper stable and the disturbance can be de-coupled successfully. The system state and the input disturbance can be asymptotically estimated...