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Journal of Control Science and Engineering
Volume 2012, Article ID 502149, 16 pages
Research Article

Adaptive Control Allocation in the Presence of Actuator Failures

National Institute of Aerospace, Hampton, VA 23666, USA

Received 3 November 2011; Revised 17 February 2012; Accepted 2 March 2012

Academic Editor: Yunjun Xu

Copyright © 2012 Yu Liu and Luis G. Crespo. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a control allocation framework where a feedback adaptive signal is designed for a group of redundant actuators and then it is adaptively allocated among all group members. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and adaptively allocated to the member actuators. Two adaptive control allocation algorithms, guaranteeing closed-loop stability and asymptotic state tracking when partial and total loss of control effectiveness occur, are developed. Proper grouping of the actuators reduces the controller complexity without reducing their efficacy. The implementation and effectiveness of the strategies proposed is demonstrated in detail using several examples.