Set-Theoretic Failure Mode Reconfiguration for Stuck Actuators

Huayi Li, Ilya Kolmanovsky, Anouck Girard

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


This letter proposes a set-theoretic Failure Mode and Effect Management (FMEM) strategy that handles stuck/jammed actuators and enforces pointwise-in-time state and control constraints. The approach exploits nesting between constraint admissible and recoverable sets to ensure the existence of a recovery sequence. A reference governor is applied to track reference commands while imposing constraint satisfaction using the remaining working actuators. Numerical results of an aircraft longitudinal flight application are reported.

Original languageEnglish
Article number9466239
Pages (from-to)1316-1321
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2022

Bibliographical note

Funding Information:
Manuscript received March 3, 2021; revised May 16, 2021; accepted June 10, 2021. Date of publication June 28, 2021; date of current version July 7, 2021. This work was supported by the National Science Foundation under Award ECCS-1931738. Recommended by Senior Editor F. Dabbene. (Corresponding author: Huayi Li.) The authors are with the Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI 48109 USA (e-mail:;; Digital Object Identifier 10.1109/LCSYS.2021.3092953

Publisher Copyright:
© 2017 IEEE.


  • Constrained control
  • fault-tolerant systems
  • reference governor
  • set-theoretic methods
  • stuck actuators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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