Nullspace-Based input reconfiguration architecture for overactuated aerial vehicles

Tamas Peni, Balint Vanek, Gyorgy Liptak, Zoltan Szabo, Jozsef Bokor

Research output: Contribution to journalArticle

1 Citation (Scopus)


A dynamic input reconfiguration architecture is proposed for overactuated aerial vehicles to accommodate actuator failures. The method is based on the dynamic nullspace computed from the linear parameter-varying model of the plant dynamics. If there is no uncertainty in the system, then any signal filtered through the nullspace has no effect on the plant outputs. This makes it possible to reconfigure the inputs without influencing the nominal control loop and thus the nominal control performance. Since the input allocation mechanism is independent of the structure of the baseline controller, it can be applied even if the baseline controller is not available in analytic form. The applicability of the proposed algorithm is demonstrated via the case study of designing a fault tolerant controller for the Rockwell B-1 Lancer aircraft.

Original languageEnglish
Article number8014509
Pages (from-to)1826-1833
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number5
Publication statusPublished - Sep 2018


  • Aircraft control
  • control input reallocation
  • fault tolerant control (FTC)
  • linear parameter-varying (LPV) systems
  • null space computation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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