LAUSR

This paper investigates the necessity of feasibility considerations in a fault tolerant control system using the constrained control allocation methodology where both static and dynamic actuator constraints are considered. In the proposed feasible control al-location scheme, the constrained model predictive control (MPC) is employed as the main controller. This considers the admissible region of the control allocation problem as its constraints. Using the feasibility notion in the control allocation problem provides the main controller with information regarding the actuator′s status, which leads to closed loop system performance improvement. Several simulation examples under normal and faulty conditions are employed to illustrate the effectiveness of the proposed methodology. The main results clearly indicate that closed loop performance and stability characteristics can be significantly degraded by neglecting the actuat-or constraints in the main controller. Also, it is shown that the proposed strategy substantially enlarges the domain of attraction of the MPC combined with the control allocation as compared to the conventional MPC.