Open Access Open Access  Restricted Access Subscription Access

Actuator Stuck Fault Compensation Design for Linear System Under Actuator Constraints: A Solution for Autonomous Vehicles

Xin Qi, Didier Theilliol, Juntong Qi, Jean Christophe Ponsart, Chong Wu, Youmin Zhang, Jianda Han


In order to ensure the reliability and safety of autonomous vehicles, actuator constraints and actuator faults should be considered in the design of the controller. In this paper, we novelly regard actuator stuck faults as actuator constraints. The main contribution is to extend the existing results for actuator saturations, in terms of invariant set estimating, to systems in the
presence of actuator stuck fault under actuator constraints. Note that, both original constraints and new constraints of actuators are unsymmetrical. Moreover, the method is expressed as linear matrix inequalities (LMIs). Stuck-fault compensation approach is proposed to reduce conservative property of the available results represented by ellipsoid invariant set. Examples are presented to illustrate the above consequences.

Full Text:



Qi Xin, Theilliol Didier, and Qi Juntong et al. Self healing control

method against unmanned helicopter actuator stuck faults. In International

Conference on Unmanned Aircraft Systems, Orlando, FL, USA, 2014.

Jiang Jin and Zhao Qing. Design of reliable control systems possessing

actuator redundancies. Journal of Guidance, Control, and Dynamics, 23(4):709–718, 2000.

Xin Du and Guang hong Yang. An adaptive approach to state feedback

tracking control of systems with actuator failures. In American Control Conference, pages 3997–4002, New York City, USA, 2007.

Gang Tao, Joshi S. M., and Xiaoli Ma. Adaptive state feedback and

tracking control of systems with actuator failures. IEEE Transactions on Automatic Control, 46(1):78–95, 2001.

Chen W. and Jiang J. Fault-tolerant control against stuck actuator faults. IEE Proceedings-Control Theory and Applications, 152(2):138–

, 2005.

Dardinier-Maron V., Hamelin F., and Noura H. A fault-tolerant control

design against major actuator failures: application to a three-tank system. In Proceedings of the 38th IEEE Conference on Decision and Control, volume 4, pages 3569–3574 vol.4, Arizona, USA, 1999.

Youmin Zhang and Jin Jiang. Fault tolerant control system design with

explicit consideration of performance degradation. IEEE Transactions on Aerospace and Electronic Systems, 39(3):838–848, 2003.

Theilliol D., Zhang Y. M., and Ponsart J. C. Fault tolerant control system against actuator failures based on re-configuring reference input. In International Conference on Advances in Computational Tools for Engineering Applications, pages 480–485, Zouk Mosbeh, Lebanon, 2009.

Hindi H. and Boyd S. Analysis of linear systems with saturation using

convex optimization. In Proceedings of the 37th IEEE Conference on Decision and Control, volume 1, pages 903–908 vol.1, 1998.

Wu Fen and Lu Bei. Anti-windup control design for exponentially

unstable lti systems with actuator saturation. Systems & Control Letters, 52(3C4):305–322, 2004.

Hu Tingshu, Lin Zongli, and Chen Ben M. An analysis and design

method for linear systems subject to actuator saturation and disturbance.

Automatica, 38(2):351–359, 2002.

Hu Tingshu, Lin Zongli, and Chen Ben M. Analysis and design for

discrete-time linear systems subject to actuator saturation. Systems &

Control Letters, 45(2):97–112, 2002.

Benzaouia Abdellah, Benhayoun Mohamed, and Mesquine Fouad. Stabilization of systems with unsymmetrical saturated control: An lmi approach. Circuits, Systems, and Signal Processing, pages 1–13, 2014.



  • There are currently no refbacks.