Adaptive fault-tolerant control for feedback linearizable systems with an aircraft application

This paper investigates fault-tolerant control (FTC) for feedback linearizable systems (FLSs) and its applications. The dynamic effects caused by the actuator faults on the feedback linearized model are firstly analyzed, which reveals that under actuator faults, the control input in the linearized model is affected by uncertain terms. In the framework of model reference control, the first FTC strategy is proposed as a robust controller, which achieves asymptotic tracking control of the FLS under actuator faults. A disadvantage of this strategy is that it relies on explicit information about several parameters in the actuator faults. This requirement is later relaxed by combining the robust FTC strategy with an adaptive technique to generate the adaptive FTC law, which is then improved to alleviate possible chattering of the actuator and estimation drifting of the adaptive parameter. Finally, the proposed FTC strategies are evaluated by reference command tracking control of a pendulum and an air-breathing hypersonic vehicle under actuator faults. Simulation results demonstrate good tracking performance, which confirms effectiveness of the proposed strategies. Copyright (c) 2014 John Wiley & Sons, Ltd.