A Supervisory Active Fault Tolerant Control Framework for Constrained Linear Systems

In this paper, a supervisory active fault tolerant control (SAFTC) scheme is presented for linear systems with constraints. The SAFTC framework is composed of a fault diagnosis module, a reconfigurable controller and a pre-designed command governor. In the presence actuator faults, constraints are guaranteed by governing the setpoint to the nearest admissible value. The command governor is adopted in such a way that no recalculation and reconfiguration is needed even in the presence of actuator fault occurrence and reconfiguration of the main controller. The input redundancy assumption, needed to recover the closed-loop tracking performance of system with faulty constrained actuator, is relaxed. A simulation study on VTOL aircraft is performed to evaluate the effectiveness of the proposed method.