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In this paper, we propose an active fault detection scheme with input redundancy of the plant. The proposed active fault detection scheme aims at quickly detecting of the occurrence of actuator sticking under steady state. In addition, a new fault tolerant control (FTC) design is developed to implement the active fault detection scheme for input redundant 2-input 1-output plant. Finally, the effectiveness of the proposed FTC and the applicability of the proposed active fault detection scheme are verified through several experiments.

A Fault-Tolerant Adaptive Control Design and Fault Detection with Input Redundancy for a 2-input Redundant Plant