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A novel approach for reconfigurable control systems design against sensor and actuator faults is proposed. The scheme is based on an estimation of the state and of the fault parameters, and on a Partially Observable Markov Decision Process (POMDP), used for the decision task of the feedback controller. The following fault types are considered: locking and loss of effectiveness of the device. The modelling framework includes sensor and actuator faults, while the reconfiguration logic is developed only for actuator faults. The effectiveness of the proposed approach is demonstrated on an academic example.

In this article, an indirect continuous and discrete Fault-Tolerant Control scheme is applied to the longitudinal dynamics of a fixed-wing unmanned aerial vehicle. To address the problem raised by a possible engine fault, the FTC method is adapted to non-redundant actuator faults by considering signatures on residuals, designing discounted cost optimal controllers, using rolling horizon techniques and considering actuator dynamics in the state equation. The efficiency of the proposed approach is demonstrated on a scenario involving thrust and elevon faults during a landing procedure.

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