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In this work, we consider the problem of fault diagnosis and fault-handling for nonlinear systems subject to actuator faults. A model-based fault diagnosis scheme is proposed, which can not only identify the failed actuator, but also estimate the magnitude of the fault. With the aid of the fault diagnosis design, the safe-parking framework for fault-tolerant control is extended to handle the case...
This work considers the problem of control of switched nonlinear systems that transit between their constituent modes subject to input constraints and actuator faults. A framework is developed to handle faults that preclude the possibility of continued nominal operation in the active mode. Two types of switching schedules are considered. For a fixed schedule, we design a fault-handling algorithm to...
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