Tracking control of overactuated systems with actuator faults (Q906654)

Summary: A novel scheme for fault-tolerant control is proposed in this paper. The geometric theory of output regulation is used to solve the total failure of actuators, under the assumption that redundancy is available in the systems. In the case that the reference signals are generated by a finite dimensional exogenous system, it is shown that, under standard assumptions, this problem is solvable if and only if a certain partial differential equation is solvable. Once a solution of this equation is available, a feedback law which solves the problem can easily be constructed. A numerical example is presented to illustrate the effectiveness of proposed approach.