Adaptive Actuators Allocation Strategies for Overactuated Networked Control Systems
نویسندگان
چکیده
This paper presents a preliminary adaptive actuators allocation scheme that is fault-tolerant with respect to actuator faults or loss of effectiveness for overactuated networked systems. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. Two simple algorithms are proposed for nonlinear discretetime systems. The main properties of the algorithms are summarized in the disturbance-free case and their effectiveness shown by means of two numerical examples.
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