A Design of Fault-tolerant Adaptive Control with External Signal Injection for Input-redundant Linear Plant

Abstract

In this paper, we propose a design of the fault tolerant adaptive control system for the input redundant linear plants which has m input channels with model reference adaptive control scheme. A feature of the proposed control system is to introduce the adaptive allocator which distributes and injects external signals into the plant. We derive adaptive law which ensures stability of output of the plant which has up to (m−1) faults, using a suitable Lyapunov function. Through a numerical simulation, we show the stability and fault-tolerance of the designed MRAC.