Closed-loop fault-tolerant dynamic control allocation design and implementation

Under a baseline virtual control law, a closed-loop fault-tolerant dynamic control allocation algorithm is designed to optimally allocate the virtual control demand to multiple actuators, which, with constrained dynamic actuators considered, ensures the good tracking of the actual control input implementable by actuators to the desired control demand in the presence of actuator faults. In order to implement the proposed control allocation algorithm, considering effectiveness loss faults of dynamic actuators, a discrete iterative learning observer is constructed based on actuator dynamics to detect and estimate actuator states and effectiveness factors accurately and rapidly. Simulation results of both a numerical example and an aircraft application case are shown to demonstrate the acceptable performance advantages by using the proposed fault-tolerant control approach.