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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Nonlinear System Dynamics

    Background:

    • Actuator faults (stuck, loss-in-effectiveness, bias) significantly degrade system performance and stability.
    • Existing fault-tolerant control (FTC) methods often require detailed system dynamics or struggle with specific fault types like stuck actuators.
    • Unknown affine nonlinear systems present challenges for robust control design due to inherent complexities and uncertainties.

    Purpose of the Study:

    • To develop a fault-tolerant control (FTC) strategy for unknown affine nonlinear systems with various actuator faults.
    • To identify functional actuators in real-time and adapt control policies for optimal achievable performance.
    • To accommodate partial loss-in-effectiveness (LIE) and bias faults without prior system model knowledge.

    Main Methods:

    • Predesigning multiple performance levels based on available actuator configurations.
    • Utilizing a history-data-based identifier to detect remaining actuators and select appropriate control policies.
    • Integrating an adjustable compensator with selected policies to manage LIEs and biases, enhancing robustness against nonlinearities and disturbances.

    Main Results:

    • Successfully identified remaining actuators and selected predesigned policies for fault accommodation.
    • Demonstrated the ability to handle stuck, LIE, and bias faults without requiring system dynamics information.
    • Proved theoretical convergence of algorithms and stability of the closed-loop system using invariant set theory.

    Conclusions:

    • The proposed FTC scheme effectively manages actuator faults in unknown affine nonlinear systems, achieving adaptable performance levels.
    • This approach offers a novel solution for stuck faults and provides superior fault accommodation compared to model-dependent methods.
    • Validated through simulations on a quadrotor unmanned aerial vehicle, confirming the practical effectiveness of the FTC strategy.