Fault Tolerant Networked Control Systems subject to Actuator Failure using Virtual Actuator technique

Abstract In this paper, the virtual actuator (VA) technique for Fault Tolerant Networked Control Systems (FTNCS) subject to actuator failure is addressed. This is a powerful technique for reconfiguration-based active Fault Tolerant Control (FTC) which enables a design process independent from estimated model of the fault. This technique is generalized here to derive the sufficient conditions for a dynamical virtual actuator in order to preserve the stability and performance of faulty control loop. These conditions as well as the design procedure of the VA are presented. Furthermore, the virtual actuator is extended toward FTNCS subject to actuator failure. The simulation results indicate that the technique can completely reconfigure the NCS in presence of actuator failure.