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Viability Under Degraded Control Authority.

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This study addresses real-time control authority degradation in nonlinear systems. A novel algorithm identifies and mitigates degradation caused by actuator issues, improving system reliability.

Keywords:
Fault accommodationfault detectionsystem identification

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Area of Science:

  • Control Theory
  • Nonlinear Systems
  • System Identification

Background:

  • Control authority degradation is a critical issue in real-world systems.
  • Actuator wear, range locks, and changing dynamics cause degradation.
  • Real-time quantification and mitigation are essential for system performance.

Purpose of the Study:

  • To develop methods for quantifying and mitigating control authority degradation in real time.
  • To address degradation in nonlinear affine-in-control systems with finite control input.
  • To consider various degradation modes, including affine maps and Lipschitz continuous maps.

Main Methods:

  • Derivation of sufficient conditions for identifiability of control authority degradation.
  • Proposal of a novel real-time algorithm for identifying or approximating degradation modes.
  • Application to a nonlinear distributed parameter system (1D heat equation).

Main Results:

  • Sufficient conditions for identifiability of control authority degradation were established.
  • A real-time algorithm was developed to identify or approximate degradation.
  • The method was successfully demonstrated on a heat equation model.

Conclusions:

  • The proposed method effectively quantifies and mitigates control authority degradation in real time.
  • The algorithm is applicable to complex nonlinear systems.
  • This work has implications for autonomous systems, such as energy-based surgery.