Abstract
This work presents a novel method of fault-tolerant model predictive control where the response of a reference closed-loop model is followed even in the presence of an actuator fault. This architecture is capable of redistributing, in a stable manner, the control efforts among healthy actuators, respecting their limitations. Also, a constrained guidance system is proposed that considers the calculated limitations of the autopilot as input constraints, in order to smooth the transition between two consecutive navigation legs dened by waypoints. The trajectory tracking system composed of the constrained guidance and the fault-tolerant model predictive controller is demonstrated through numerical simulations and experimental results on the VFW-614 ATTAS (Advanced Technologies Testing Aircraft System), showing adequate performance.
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