Passive fault -tolerant control for dissimilar redundant actuation system-based on LMI approach

For the gradual faults of the new hybrid collaboration actuation system composed by hydraulic actuator(HA) and electro-hydraulic actuator(EHA), this paper develops a control law with the function of passive fault-tolerant. In this study, HA is active and EHA is passive, and the gradual faults such as leakage and flow changes are characterized as uncertainties of the system, then an equivalent model is derived from the original system based on the assumption that the uncertain matrices are norm bounded. The fixed controller is designed based on the concept of model reference tracking control. Meanwhile, relevant parameters are solved by Lyapunov stability theory and linear matrix inequality(LMI) approach. simulation results verify the effectiveness of the control law design.