Actuator Redundancy and Safe Operation Abilities of Nonlinear Systems

Abstract

We extend commonly used definitions of actuator redundancy for linear time-invariant systems to nonlinear systems. To this end, redundancy is defined as a property of every actuator, rather than a system property. We formally compare the existing approach to ours for linear and nonlinear systems. Based on reachability analysis techniques, we establish safe operation regions. As their computation is numerically expensive, we focus on developing efficient strategies for computing them.

DOI: https://doi.org/10.1016/j.ifacol.2023.10.1520