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Authors: Waseem Akram ; Francesco Tedesco and Alessandro Casavola

Affiliation: Department of Computer Engineering, Modelling, Electronics and Systems (DIMES), University of Calabria, Rende, Italy

Keyword(s): Control Allocation, Fault-Tolerant, Actuator Redundancy, Bias Fault, Marine Surface Vehicle.

Abstract: Fault-Tolerant control is of paramount importance in marine technology, especially for autonomously guided vehicles. It can be achieved by exploiting actuators redundancy, which adds flexibility to the system by guaranteeing maneuverability, even in the presence of actuator faults. The main idea in the control allocation scheme here proposed is at distributing the control effort among the remaining healthy actuators without changing the nominal control law. In this paper, we propose an enhanced adaptive control allocation algorithm for over actuated systems. The proposed algorithm works under actuators loss of effectiveness with possible thruster stuck situations under both input saturation and rate of change constraints. The effectiveness of the proposed scheme is shown by simulating a marine surface vehicle model on a path-following problem.

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Paper citation in several formats:
Akram, W.; Tedesco, F. and Casavola, A. (2020). Adaptive Fault-Tolerant Control Allocation Schemes for Overactuated Systems with Actuator and Bias Faults. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 81-88. DOI: 10.5220/0009894800810088

@conference{icinco20,
author={Waseem Akram. and Francesco Tedesco. and Alessandro Casavola.},
title={Adaptive Fault-Tolerant Control Allocation Schemes for Overactuated Systems with Actuator and Bias Faults},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={81-88},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009894800810088},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Adaptive Fault-Tolerant Control Allocation Schemes for Overactuated Systems with Actuator and Bias Faults
SN - 978-989-758-442-8
IS - 2184-2809
AU - Akram, W.
AU - Tedesco, F.
AU - Casavola, A.
PY - 2020
SP - 81
EP - 88
DO - 10.5220/0009894800810088
PB - SciTePress

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