A decentralized scheme for accommodation of multiple simultaneous actuator failures

In this paper we present a new decentralized failure detection, identification and reconfiguration (FDIR) scheme for online compensation of the effect of multiple simultaneous control effector failures. The scheme is based on suitable failure models that cover a large number of different failure cases, and local FDI observers that estimate failure-related parameters online. These estimates are used in the reconfigurable controller to achieve the desired performance despite the presence of multiple failures. The FDIR algorithms are developed for the cases of first- and second-order actuator dynamics.