Active fault tolerant control with actuation reconfiguration

This paper presents an integrated approach to fault detection, isolation, and fault tolerant control (FTC). In the proposed approach a constrained Kalman filter based fault detection and isolation (FDI) method (Larson et al., 2002) is modified to reduce its computation load and then applied to detect and isolate a faulty actuator or sensor. Explicit algorithms are derived to estimate the effectiveness factor of a detected faulty actuator or sensor. Furthermore, a design concept of actuation reconfiguration is proposed and implemented in the derived control scheme to restrain the workload of a faulty actuator while recovering the prefault system performance. Simulation results on an aircraft dynamic model have demonstrated the effectiveness of the proposed method.