Effective control allocation in fault-tolerant flight control using feedback linearisation and model predictive control

This paper features the combination of model-based predictive control and feedback linearisation into a constrained and globally valid control method for fault tolerant flight-control purposes. The fact that the approach is both constrained and model-based creates the possibility to incorporate additional constraints, or even a new model, in case of a failure situation. Both of these properties lead to the fault-tolerant qualities of the method. Efficient distribution of the desired control moves over the control effectors creates the possibility to separate the input allocation problem from the feedback linearisation loop when redundant actuators are available. A simulation example is incorporated that shows that the proposed control method can suitably cope with two distinct types of failure under the assumption that fault detection and isolation information about the failure is available.