INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Int. J. Robust Nonlinear Control (2010) Published online in Wiley InterScience (www.interscience.wiley.com). DOI: 10.1002/rnc.1561 Fault-tolerant adaptive control allocation schemes for overactuated sy

This paper presents a fault-tolerant adaptive control allocation scheme for overactuated systems subject to loss of effectiveness actuator faults. The main idea is to use an ‘ad hoc ’ online parameters estimator, coupled with a control allocation algorithm, in order to perform online control reconfiguration whenever necessary. Time-windowed and recursive versions of the algorithm are proposed for nonlinear discrete-time systems and their properties analyzed. Two final examples have been considered to show the effectiveness of the proposed scheme. The first considers a simple linear system with redundant actuators and it is mainly used to exemplify the main properties and potentialities of the scheme. In the second, a realistic marine vesse