An adaptive control allocation method based reconfigurable control system for Unmanned Aerial Vehicle

This paper presents an adaptive control allocation scheme for the development of a reconfigurable control system, which allows for the redistribution of the control commands to the remaining actuators in the detection of actuator failures. The reconfigurable control task is considered as a constrained adaptive control allocation problem, and solved by using gradient algorithms. Simulation results have demonstrated the efficiency of the proposed technique in the presence of different failures of the actuator.