Fault-Tolerant Structured Adaptive Model Inversion Control

An adaptive dynamic inversion control formulation is presented that takes advantage of the inherent dynamic structure of the state-space description of a large class of systems. The formulations impose the exact kinematic differential equations, thereby restricting the adaptation process that compensates for model errors to the accel-eration level. The utility of this formulation is demonstrated for the problem of fault tolerance to actuator failures on redundantly actuated systems. The approach incorporates an actuator failure model in the controller formu-lation, so that actuator failure can be identified as a change in the parameters of the failure model. Tracking of reference trajectories is imposed, and initial error conditions and structured parametric uncertainties are incor-porated explicitly in both the plant parameters and the control influence matrix. A numerical example consisting of a nonlinear model of an F-16 type aircraft with thrust vectoring is presented. Simulation results show that the fault-tolerant adaptive controller is capable of simultaneously handling parametric uncertainties, large initial condition errors, and actuator failures while maintaining adequate tracking performance. I