A new reconfigurable fault tolerant control design based on Laguerre series

In this paper a new design method is presented for reconfigurable fault tolerant control of multivariable nonlinear time delay systems. The control reconfiguration algorithm comprises two main parts: fault detection and diagnosis and model reference adaptive control. First, a combination of generic residual generation method and its Laguerre approximation is proposed due to the problem of residual similarity in fault diagnostic process. Second, a novel approach for adaptive reconfigurable control synthesis is proposed using a nonlinear system identification approach based on the approximation of systems via Laguerre series. The Laguerre-based reconfiguration method is implemented and tested on a time delay form of COSY benchmark model as a preliminary study of reconfigurable control applied to a nonlinear time-delayed model. Actuator faults have been implemented in the COSY benchmark and used to evaluate the control reconfiguration schemes. Simulation results showed acceptable level of fault tolerance.