Abstract
This paper focuses on the optimal fault-tolerant control problem for over-actuated systems with actuator faults. Based on Stackelberg differential game, a novel integrated method is put forward where the optimal High-level motion controller serves as the leader to give the virtual control input, and the optimal Low-level fault-tolerant allocation strategy acts as the follower to allocate the virtual control input to actuators. Adaptive Dynamic Programming is used to realize the online solution of such an integrated method. A numerical simulation is presented to verify its feasibility.
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