Abstract
In this paper, a new fault tolerant control scheme with control allocation is presented. The pseudo-inverse along the null-space control allocation is applied to the fault tolerant control system to handle the actuator constraints. The stability of the overall closed-loop system is proved via the small gain theory. The null-space vector is viewed as uncertainty, and is disposed by an integral sliding mode controller and a robust controller. The simulation results show that the new method can solve both failure scenarios and actuator saturation problems well.
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