Fault-tolerant control for over-actuated systems with actuator fault and input saturation∗

This paper proposes a novel fault-tolerant tracking control strategy for over-actuated systems subject to actuator fault, control input saturation and external disturbance. The proposed method integrates the effect of actuator saturation and the actuator fault into a generalized disturbance. The generalized disturbance is considered as an auxiliary state vector to construct an augmented system. Based on the augmented system, an H∞ dynamic output feedback controller is designed to achieve fault-tolerant control. The main advantage of the proposed method is that it can achieve robust fault-tolerant control without depending on the fault diagnosis module and on-line control allocation algorithm. The design conditions are formulated as a set of linear matrix inequalities, which can be solved efficiently. Simulation results of a flight vehicle are given to demonstrate the effectiveness of the proposed method.