Efficient Control Allocation for Fault Tolerant Embedded Systems on Small Autonomous Aircrafts

In this paper, a control allocation module with explicit laws has been designed for fast operation and low computational load, so that this algorithm can run in a small processor or microcontroller with limited floating point operation capability. The control allocation method is capable of compensating for actuator faults. Given the appropriate fault detection system, there is no need to redesign the controller, since the control allocator compensates for any fault occurring. A comparison shows that this method yields satisfactory results, provides optimal solutions in some cases, and is simpler and faster than conventional methods.