Pełnotekstowe zasoby PLDML oraz innych baz dziedzinowych są już dostępne w nowej Bibliotece Nauki.
Zapraszamy na


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
2012 | 22 | 1 | 139-148

Tytuł artykułu

Reconfigurable control design with integration of a reference governor and reliability indicators

Treść / Zawartość

Warianty tytułu

Języki publikacji



A new approach to manage actuator redundancy in the presence of faults is proposed based on reliability indicators and a reference governor. The aim is to preserve the health of the actuators and the availability of the system both in the nominal behavior and in the presence of actuator faults. The use of reference governor control allocation is a solution to distribute the control efforts among a redundant set of actuators. In a degraded situation, a reconfigured control allocation strategy is proposed based on on-line re-estimation of the actuator reliability. A benefit of incorporating reliability indicators into over-actuated control system design is the smart management of the redundant actuators and improvement of the system safety. Moreover, when the fault is severe, an adaptation approach using the reference governor is proposed. The reference governor unit is a reference-offset governor based on a discrete-time predictive control strategy. The idea is to modify the reference according to the system constraints, which become stricter after the occurrence of an actuator fault. The proposed approach is illustrated with a flight control application.








Opis fizyczny




  • Research Centre for Automatic Control of Nancy, CRAN CNRS UMR 7039, University of Lorraine, BP 70239, 54506 Vandœuvre Cedex, France
  • Research Centre for Automatic Control of Nancy, CRAN CNRS UMR 7039, University of Lorraine, BP 70239, 54506 Vandœuvre Cedex, France
  • Research Centre for Automatic Control of Nancy, CRAN CNRS UMR 7039, University of Lorraine, BP 70239, 54506 Vandœuvre Cedex, France
  • Research Centre for Automatic Control of Nancy, CRAN CNRS UMR 7039, University of Lorraine, BP 70239, 54506 Vandœuvre Cedex, France


  • Alwi, H. and Edwards, C. (2008). Fault tolerant control using sliding modes with on-line control allocation, Automatica 44(7): 1859-1866.
  • Angeli, D., Casavola, A. and Mosca, E. (2001). On feasible set-membership state estimators in constrained command governor control, Automatica 37(1): 151-156.
  • Bemporad, A., Casavola, A. and Mosca, E. (1997). Nonlinear control of constrained linear systems via predictive reference management, IEEE Transactions on Automatic Control 42(3): 340-349.
  • Blanke, M., Kinnaert, M., Lunze, J. and Staroswiecki, M. (2006). Diagnosis and Fault Tolerant Control, Control Systems Series, Springer-Verlag, London.
  • Bordignon, K. (1996). Constrained Control Allocation for Systems with Redundant Control Effector, Ph.D. thesis, Virginia Polytechnic Institute & State University, Blacksburg, VA.
  • Boussaid, B., Aubrun, C. and Abdelkrim, M. (2010). Fault adaptation based on reference governor, Proceedings of the IEEE Conference on Control and Fault Tolerant Systems, SyStol'10, Nice, France, pp. 257-262.
  • Burken, J., Lu, P., Wu, Z. and Bahm, C. (2001). Two reconfigurable flight control design methods: Robust servomechanism and control allocation, Journal of Guidance, Control, and Dynamics 24(3): 482-493.
  • Casavola, A., Papini, M. and Franz, G. (2006). Supervision of networked dynamical systems under coordination constraints, IEEE Transactions on Automatic Control 51(3): 421-437.
  • Casavola, A., Franze, G. and Sorbara, M. (2007). Referenceoffset governor approach for the supervision of constrained networked dynamical systems, Proceedings of the European Control Conference, Kos, Greece, pp. 7-14.
  • Casavola, A. and Garone, E. (2010). Fault tolerant adaptive control allocation schemes for overactuated systems, International Journal of Robust and Nonlinear Control 20(17): 1958-1980.
  • Cox, D. (1972). Regression models and life tables, Journal of the Royal Statistical Society, Series B 34: 187-220.
  • Durham, W. (1993). Constrained control allocation, Journal of Guidance, Control, and Dynamics 16(4): 717-125.
  • Enns, D. (1998). Control allocation approaches, AIAA Guidance, Navigation, and Control Conference, Boston, VA, USA, pp. 98-108.
  • Gertsbakh, I. (2000). Reliability Theory with Applications to Preventive Maintenance, Springer-Verlag, New York, NY.
  • Gilbert, E., Kalmanovsky, I. and Tan, K. (1995). Discrete-time reference governors and the nonlinear control of systems with state and control constraints, International Journal on Robust and Nonlinear Control 5(5): 487-504.
  • Gilbert, E. and Tan, K. (1991). Linear systems with state and control constraints: The theory and application of maximal output admissible sets, IEEE Transactions on Automatic Control 36(9): 1008-1020.
  • Guenab, F., Theilliol, D., Weber, P., Zhang, Y. and Sauter, D. (2006). Fault tolerant control design: A reconfiguration strategy based on reliability analysis under dynamic behavior constraints, Proceedings of 6th IFAC Safeprocess Symposium, Beijing, China, pp. 1033-1038.
  • Harkegard, O. (2003). Backstepping and Control Allocation with Applications to Flight Control, Ph.D. thesis, Linköping University, Linköping.
  • Harkegard, O. and Glad, S. (2005). Resolving actuator redundancyoptimal control vs. control allocation, Automatica 41(1): 137-144.
  • Johansen, T. and Johansen, T.A. (2008). Adaptive control allocation, Automatica 44(11): 2754-2765.
  • Kawakernaak, H. and Sivan, R. (1972). Linear Optimal Control Systems, Wiley-Interscience, New York, NY.
  • Khelassi, A., Theilliol, D. and Weber, P. (2009). Reconfigurability for reliable fault-tolerant control design, 7th Workshop on Advanced Control and Diagnosis, Zielona Góra, Poland.
  • Kolmanovsky, I. and Sun, J. (2006). Parameter governors for discrete-time nonlinear systems with pointwise-in-time state and control constraints, Automatica 42(5): 841-848.
  • Martorell, S., Sanchez, A. and Serradell, V. (2009). Agedependent reliability model considering effects of maintenance and working conditions, Reliability Engineering and System Safety 64(1): 19-31.
  • Noura, H., Theilliol, D., Ponsart, J. and Chamssedine, A. (2009). Fault Tolerant Control Systems: Design and Practical Application, Springer, Dordrecht/Heidelberg/London.
  • Staroswiecki, M. (2003). Actuator faults and the linear quadratic control problem, Proceedings of the 42th IEEE Conference on Decision and Control, Maui, HI, USA, pp. 959-965.
  • Theilliol, D., Chemsseddine, A., Zhang, Y. and Weber, P. (2009). Optimal reconfigurable control allocation design based on reliability analysis, 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Barcelona, Spain, (on CD-ROM).
  • Theilliol, D., Join, C. and Zhang, Y. (2008a). Actuator fault tolerant control design based on a reconfigurable reference input, International Journal of Applied Mathematics Computer Science 18(4): 553-560, DOI: 10.2478/v10006-0080048-1.
  • Theilliol, D., Zhang, Y., Ponsart, J. and Aubrun, C. (2008b). Actuator fault tolerant control system with re-configuring reference input design based on MPC, Proceedings of the 6th Workshop on Advanced Control and Diagnosis, Coventry, UK, pp. 275-280.
  • Virnig, J. and Bodden, D. (1994). Multivariable control allocation and control law conditioning when control effectors limits, AIAA Guidance, Navigation, and Control Conference, Scottsdale, AZ, USA, pp. 572-582.
  • Zhang, Y., Suresh, V., Jiang, B. and Theilliol, D. (2007). Reconfigurable control allocation against aircraft control effector failures, IEEE International Conference on Control Applications, CCA 2007, Singapore, pp. 1197-1202.
  • Zhou, K., Doyle, J. and Glover, K. (1996). Robust and Optimal Control, Prentice Hall, Upper Saddle River, NJ.

Typ dokumentu



Identyfikator YADDA

JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.