Discrete-time cooperative control of a faulty mechanical system

A discrete-time target tracking control scheme for an eye-head-torso mechanical system is employed to demonstrate how cooperative control and failure accommodation can be achieved using the multivariable regulator and H/sub 2/ control theory. The eye, head, and torso subsystems work cooperatively to track the target as closely as possible and then read just their positions so that the three are aligned in the same direction. The control system also has the reconfiguration capability to accommodate the failure of one or two subsystems by switching to the control algorithm that would provide optimal performance utilizing the remaining healthy subsystems.