Abstract
This paper proposes an adaptive sliding mode control allocation scheme for accommodating simultaneous actuator fault/failure. A control allocation and re-allocation scheme is synthesized to redistribute the control signals among the working actuators. In the case of the desired virtual control not being achieved, the proposed on-line adaptive scheme can seamlessly adjust the control gain to stabilize the overall system. The effectiveness of the proposed algorithm is demonstrated by the simulation results based on a modified unmanned multirotor helicopter under simultaneous actuator fault/failure conditions.
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