Zero-sum differential game-based fault tolerant control of 3-DOF model helicopter systems

This paper presents a pioneering study that simultaneously addresses the optimal tracking and fault-tolerant control problems for a 3-DOF model helicopter system. Leveraging an optimal FTC approach inspired by zero-sum differential game theory, we explore the intricate dynamics of helicopter systems under both system and actuator faults. Unlike previous work on fault-tolerant control, our study considers the controller and composite faults as adversarial players with "intelligent" strategies in a differential game setting. This novel perspective results in the coupled solutions for the optimal fault-tolerant controller and the worst-case composite faults, posing significant analytical challenges. This work provides a foundation for the optimal design of controllers that achieve desired flight performance even in the presence of nonlinear faults, thereby advancing the robustness and reliability of helicopter systems in operational environments.