This paper presents a fault-tolerant control scheme for constrained linear systems. First, new variant of the Reference Governor (RG) called At Once (AORG) is introduced. The AORG distinguished from conventional RG by computing Auxiliary (AR) sequence so that to optimize performance over prescribed time interval instead only at current instant; this enables integration with fault detection sche...

PUBLISHED ON IEEE/ASME TRANSACTIONS MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As consequence, faults will prevent system from working correctly, unless fault-tolerant (FTC) architecture is adopted. model-based FTC algorithms for nonlinear systems often challengi...

Here a innovative approach of Auto tuned fractional order control is proposed for fault tolerant control of Autonomous Underwater Vehicle (AUV). From fault detection and reconfiguration, fractional order controller is designed. Reconfiguration is designed using Eigen structure assignment technique. The proposed approach is tested on REMUS-100 AUV model. Variable step input is used as a referenc...