Adaptive fault-tolerant control based on hybrid redundancy

This paper presents a new adaptive fault-tolerant control system (AFTCS) against actuator failures. The AFTCS utilizes a hybrid of static and dynamic redundancies. In order to maintain the control performance, the redundancy-mode is selected appropriately to remove the effect of the failure. All the switching actions are executed based on only the input and error signals. Hence, any fault detector is not exploited. Furthermore, introducing an adaptive high-gain feedback controller makes it possible to achieve the λ-tracking in the presence of failure. In this paper, several simulation results for the CSTR are shown to confirm the effectiveness of the AFTCS.