Passive actuators’ fault tolerant control for affine nonlinear systems

Abstract

In this paper we consider the problem of passive fault tolerant control for nonlinear affine systems with actuators faults. We treat two types of faults; additive and loss of effectiveness faults. In each case we propose a Lyapunov-based feedback controller that ensures the local uniform asymptotic (exponential) stability of the faulty system, if the safe nominal system is locally uniformly asymptotically (exponentially) stable. We show the effectiveness of the fault tolerant controllers on the autonomous helicopter numerical example.