Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approachThis paper focuses on supervisory fault tolerant control design for a class of systems with faults ranging over a finite cover. The proposed framework is based on a switched system approach, and relies on a supervisory switching within a family of pre-computed candidate controllers without individual fault detection and isolation schemes. Each fault set can be accommodated either by one candidate controller or by a set of controllers under an appropriate switching law. Two aircraft examples are included to illustrate the efficiency of the proposed method.

Traditional fault diagnosis and supervisory fault tolerant control method needs a series of models or filters to isolate the current-fault. This may cause-the-instability-of the system due to the isolation time delay. This paper proposes a novel supervisory fault tolerant control scheme for a class of uncertain nonlinear systems with faults ranging over a finite cover. The proposed scheme only relies on a simple switching among a family of pre-computed candidate controllers without any additional models or filters to isolate the faults. The states are ensured to be bounded during the switching delay, which ends when the appropriate stabilizing controller has been selected. An unmanned aerial vehicle example is taken and simulation results are provided to show the efficiency of the proposed method.

A novel switching fault diagnosis and accommodation method for nonlinear unmanned aerial vehicle ( UAV) models is proposed to improve the fault estimation and fault tolerant control performances. A set of fault diagnosis schemes are constructed with different initial fault estimation values and a switching law. The approach designs a set of adaptive fault estimation schemes based on the single adaptive fault estimation algorithm. The actual fault scope is divided into several parts, and a different initial fault estimation value for each fault zone is set. The switching law is constructed according to different performance requirements. Under the switching law,the convergence of the closed-loop system is ensured by choosing the state and fault estimation generated by the optimal diagnostic scheme according to the output error minimum principle,which is used in the fault tolerant controller design. The proposed method improves the estimation speed and the performance during the whole control process. The simulation results on a specific UAV model prove the effectiveness of the proposed method.