Constrained control allocation for nonlinear systems with actuator failures or faults

Authors

SAMAN EBRAHIMI BOUKANI
MOHAMMAD JAVAD KHOSROWJERDI
ROYA AMJADIFARD

DOI

10.3906/elk-1604-149

Abstract

In this paper, a combination of dynamic constrained control allocation with terminal sliding mode control is proposed for a general class of overactuated nonlinear systems with actuator faults/failures. First, the terminal sliding mode control is designed to converge the system tracking error to zero in a finite-time. Then a control allocation strategy is developed and will be solved by a Lyapunov method, which leads to a dynamic update law with finite-time convergence. This strategy satisfies input limits and when faults/failures occur in some of the actuators, the control signals are automatically redistributed among the healthy actuators. Simulation results on a near space vehicle show the effectiveness of the proposed approach.

Keywords

Overactuated systems, Lyapunov method, Terminal sliding mode control, Dynamic control allocation

First Page

3152

Last Page

3163

Recommended Citation

BOUKANI, SAMAN EBRAHIMI; KHOSROWJERDI, MOHAMMAD JAVAD; and AMJADIFARD, ROYA (2017) "Constrained control allocation for nonlinear systems with actuator failures or faults," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 25: No. 4, Article 49. https://doi.org/10.3906/elk-1604-149
Available at: https://journals.tubitak.gov.tr/elektrik/vol25/iss4/49