Dynamic Control Allocation Fault-Tolerant Method for a Class of Distributed Control Systems

The dynamic control allocation algorithm is proposed for a class of distributed control systems with hierarchical structure, in order to solve the real-time cooperative control problem in the case of sensor failure occurred in the subsystems. The augmented state-space model of the distributed control system is first established for the control allocation design, by using the dynamic model of sensor faults. According to robust control theory, the constrained and convex optimization is then formulated into linear-matrix-inequality form to design the gain matrix of the control allotter, which can be computed by various well-developed algorithms. Thus the suppression of sensor faults in the subsystem is realized and the expected cooperative control objective is achieved. Simulations on the four-corner leveling control system of an advanced hydraulic press demonstrate the effectiveness of the proposed control allocation algorithm.