Integrated Architecture of Actuator Fault Diagnosis and Accommodation

This paper deals with the design of an integrated scheme of actuator fault diagnosis and accommodation.The fault detection, isolation and estimation are given by the diagnosis task based on an Unknown Input Observer UIO.The UIO allows a robust diagnosis throughout decoupling disturbances from faults and provides estimation for the faults amplitude.This latter is used in order to recompute, on line, a feedback control gain that guaranteeing the fault accommodation and the compensation of its effect.The control gain is determinate based on the Pseudo-Inverse Method PIM.