Constrained control allocation for nonlinear systems with actuator failures or faults

Authors

SAMAN EBRAHIMI BOUKANI
MOHAMMAD JAVAD KHOSROWJERDI
ROYA AMJADIFARD

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.

DOI

10.3906/elk-1604-149

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