Fault tolerant control for two collaborative systems using output regulation scheme

In this paper a novel collaborative fault tolerant control scheme is presented. To simplify the presentation, only two collaborative subsystems are considered where the state space model is used. To diagnose the faults, adaptive diagnostic observers are used respectively, and the adaptive tuning rule for estimating the faults have been obtained. Based upon the fault diagnosis, a fault tolerant control strategy has been proposed which is capable of controlling a healthy subsystem so that the two systems can still deliver a common working goal. A simulated example is given and desired results have been obtained.