Model predictive control (MPC) is an attractive control scheme for embedding fault tolerance since, by being an optimal-control scheme solved online, it enables directly updating of the system model and constraints. Yet, there are several processes and systems where fault accommodation simply by updating the internal MPC model is infeasible. Of particular such interest is process plants with ex...

The problems of control of robot manipulators with actuation degradation and detection of actuation faults are addressed in this paper. An adaptive fault tolerant control method is proposed for robot manipulators to maintain the required performance in the presence of actuation degradation, and the same adaptive algorithm is utilized to detect actuation failures. The proposed method can compens...

In this paper we present a design method of Sliding Mode Observer (SMO) applied to reconstruct both actuator and sensor faults for a class of output time-delay systems. To guarantee the quadratically stability of the estimation error dynamics, sufficient conditions are developed with the LyapunovKrasovskii approach arising a set of Linear Matrix Inequality (LMI) optimization. Applying the equiv...

The problem of adaptive fault-tolerant control for linear systems with time-varying actuator faults including outage and loss of effectiveness is investigated in this paper. After presenting a time-varying actuator fault model, a novel adaptive observer is designed so that the fault parameter can be estimated fast. Here, the inevitable fault estimation error, as well as the exogenous disturbanc...

The paper proposes a control system with the brake and the steering for developing a driver assistance system. The purpose is to design a cruise control method to track the road geometry with a predefined velocity and guarantee the road stability of the vehicle simultaneously. An actuator selection method is developed in the control design, in which the actuator limits, energy requirements and ...

Fault-tolerant controller (FTC) designs for doubly fed induction generators (DFIGs) with actuator faults have recently gained considerable attention due to their important role in maintaining the safety and reliability of DFIG-based wind turbines via configured redundancy. The objective of this paper is to propose a novel active fault-tolerant tracking control strategy for a DFIG subject to act...

This paper investigates the design of spacecraft attitude stabilization controllers that are robust against actuator faults and external disturbances. A nominal controller is developed initially, using the adaptive backstepping technique, to stabilize asymptotically the spacecraft attitude when the actuators are fault-free. Additive faults and the partial loss of actuator effectiveness are cons...

This paper presents an intelligent fault tolerant flight control system that blends aerodynamic and propulsion actuation for safe flight operation in the presence of actuator failures. Fault tolerance is obtained by a nonlinear adaptive control strategy based on on-line learning neural networks and actuator reallocation scheme. The adaptive control block incorporates a recently developed techni...

This paper focuses on the principle for designing reduced-order fuzzy-observer-based actuator fault reconstruction for a class of nonlinear systems. The problem addressed can be indicated as an approach for a kind of reduced-order fuzzy observer design with special gain matrix structure that depends on a given matching condition specification. Using the Lyapunov theory, the stability conditions...

In this paper, an adaptive backstepping technique based fault tolerant control scheme is developed for a spacecraft attitude stabilization system, in which the external disturbances and partial loss of actuator effectiveness fault are considered. More specifically, using the adaptive backstepping control method, a baseline control law is first proposed for the normal system without actuator fau...