Fault tolerant fuzzy control allocation for overactuated systems

An adaptive fault tolerant control systems are vital in many industrial systems. Redundancy is a practical approach to decrease the effects of faults in systems. Redundancy in actuators can also increase system reliability and flexibility. This paper proposes a fuzzy control allocation method that can allocate control signal among actuators to increase reliability and maneuverability in healthy conditions and tolerating faults in faulty conditions. Using fuzzy logic is an intelligent way to adaptively change the gains of control allocation in different operating conditions.