Purpose
– The purpose of this study is to investigate the problem of fault accommodation in bilinear dynamic systems.
Design/methodology/approach
– Solution to this problem is related to constructing the control law which provides full decoupling with respect to the fault effects. The so-called logic-dynamic approach will be used to solve this problem. The main steps of this approach are: replacing the initial bilinear system by certain linear one, solving the problem under consideration for this linear system by well-known linear methods with some restrictions, taking into account the bilinear term to correct the obtained linear solution.
Findings
– Existing conditions of the fault accommodation problem in a form of rank equalities and inequalities are formulated. Calculating relations for the control law and the auxiliary systems are given.
Practical implications
– The suggested method allows determining such a control law that preserves the main performances of the system in the faulty case, while the minor performances may degrade.
Originality/value
– The main advantage of the logic-dynamic approach is a possibility to solve the problem of fault accommodation for nonlinear systems by linear methods without decreasing the main properties of the obtained solution.
Interval SLAM for underwater robots; a new experiment
