Multivariable control and failure accommodation in eye-head-torso target tracking

A simple eye-head-torso target tracking system is employed to demonstrate how cooperative control and failure accommodation can be achieved using the multivariable regulator and H₂ control theory. The eye, head, and torso serve as three subsystems working cooperatively to track the target as closely as possible and then readjust their positions so that the three are aligned in the same direction. The control system also has the reconfiguration capability to accommodate the failure of one or two subsystems by switching to the control law that would provide optimal performance for the remaining healthy subsystems.