Passive Fault-Tolerant Augmented Neural Lyapunov Control: A method to synthesise control functions for marine vehicles affected by actuators faults

Closed-loop stability of control systems can be undermined by actuator faults. Redundant actuator sets and Fault-Tolerant Control (FTC) strategies can be exploited to enhance system resiliency to loss of actuator efficiency, complete failures or jamming. Passive FTC methods entail designing a fixed-gain control law that can preserve the...

Systematic Synthesis of Passive Fault-Tolerant Augmented Neural Lyapunov Control Laws for Nonlinear Systems

Performance and closed-loop stability of control systems can be jeopardised by actuator faults. Actuator redundancy in combination with appropriate control laws can increase the resiliency of a system to both loss of efficiency or jamming. Passive Fault-Tolerant Control (FTC) systems aim at designing a unique control law with guaranteed...