Reconfiguration schemes to mitigate faults in automated irrigation channels: Experimental results

In this paper we present reconfiguration strategies for dealing with sensor and actuator faults in automated irrigation channels. Analytical redundancy inherent in the system is used for control and signal reconfiguration. Sensor faults are dealt with by estimating the correct value of the signal measured by the faulty sensor and using the estimated signal as input to the controller. An actuator fault necessitates a relaxation of the control objectives, and it requires both signal and controller reconfiguration. The reconfiguration strategies were successfully tested on an operational irrigation channel. Despite the faults we still achieved very good control performance and there were minimal disruptions to the operation of the channel