Actuator fault-tolerant control of the stuttgart SmartShell

The present paper addresses the problem of control reconfiguration in the case of actuator failures in the context of active vibration control of the reference system Stuttgart SmartShell. Due to the use of hydraulically actuated tripods, the failure of single actuators introduces nonlinear input constraints in the nominal optimal control problem. The suggested control reconfiguration is based on the lineariziation of the input constraints, leading to a time-varying optimal control problem, which is solved using a Riccati approach. The controller is then implemented in a model-predictive control scheme. The suggested approach is evaluated in simulation. The results indicate that the approach is able to at least partially recover control performance and is well-suited for real-time implementation.