Fault-tolerant control allocation with actuator dynamics: Finite-time control reconfiguration

This paper focuses on fault tolerant control allocation for overactuated systems with actuator dynamics. The proposed scheme for fault detection and isolation is based on unknown input observers and the main contribution of the paper consists in the presentation of a finite-time control reconfiguration technique which provides a successful recovering of system performances in spite of actuator faults. Simulation results support theoretical developments.