The robust control mixer module method for control reconfiguration

The control mixer method proposed in Huber and McCulloch (1984) and Rattan (1985) is efficient in improving an ordinary control system into a fault tolerant one, especially for these control systems of which the real-time and online redesign of the control laws is very difficult. In order to consider the stability, performance and robustness of the reconfigured system simultaneously, and to deal with a more general controller configuration than the static feedback mechanism considered by the conventional control mixer method, the robust control mixer module method is proposed in this paper. The form of the control mixer module extends from a static gain matrix into an LTI dynamical system. Furthermore, multiple dynamical control mixer modules can be employed in our consideration. The H_∞ control theory is used for the analysis and design of the robust control mixer modules. Finally, one robotic arm (ERA) system is used to test the proposed method