Active fault-tolerant control system

In this paper a viable active fault-tolerant control system is provided to accommodate partial actuator and/or sensor faults with graceful degradation of the process performance, a model-based fault detection and isolation (FDI) technique developed with deeper insight into the process behavior by using a set of constrained Kaiman filters, and then estimating the effectiveness factor for the faulty actuator and/or sensor in the presence of system disturbances and random noise. Reconfigurable controller design is developed by combining both singular value decomposition (SVD) principle and eigenstructure assignment technique. The effectiveness of the proposed scheme has justified by Simulation result on the steering subsystem of the Naval Postgraduate School (NPS) UUV with simulated actuator (rudder) failures.