Controle Tolerante a Falhas: Reconfiguração com Atuador Virtual Adaptativo

  • Mariella Maia Quadros Área de Controle e Processos Industriais, Instituto Federal de Educação, Ciência e Tecnologia de Minas Gerais – IFMG Campus Sabará, MG
  • Víctor Costa da Silva Campos Departamento de Engenharia Eletrônica, Escola de Engenharia, Universidade Federal de Minas Gerais, MG
Keywords: Fault Tolerant Control, Control Reconfiguration, Fault Hiding, Virtual Actuator, Actuator Faults


This paper proposes the design of an adaptive virtual actuator for linear discrete- time systems subject to actuator faults. By means of new conditions based on Linear Matrix Inequalities (LMIs) and the virtual actuator adaptation law, the control reconfiguration without requiring the use of a Fault Detection and Isolation module (FDI) to compensate the different actuator faults becomes possible. Thus, in the presence of faults, the reconfigured system behaves asymptotically as the nominal system (without faults), not being subject to loss of performance and stability due to possible errors in the FDI module. Computer simulations for an open- loop stable and an unstable system are performed to verify the performance of the proposed methodology for different scenarios of actuator faults. From the analysis of the time responses obtained, it is possible to observe that the reconfigured system is able to compensate the faults and continue tracking the reference signal, with similar behavior to that of the nominal system.