Fault tolerant funnel control

Abstract

A new approach to adaptive fault tolerant tracking control for uncertain linear systems is presented. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we introduce a low-complexity model-free controller which achieves prescribed performance of the tracking error for any given sufficiently smooth reference signal. Within the considered system class, we allow for more inputs than outputs as long as a certain redundancy of the actuators is satisfied. An important role in the controller design is played by the controller weight matrix, which is a rectangular input transformation chosen such that in the resulting system the zero dynamics, which are assumed to be uniformly exponentially stable, are independent of the new input.