Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation
Tipus de documentText en actes de congrés
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
Projecte de la Comissió EuropeaISENSE - Making Sense of Nonsense (EC-FP7-270428)
In this paper, an actuator fault-tolerant control (FTC) scheme is proposed, which is based on tube-based model predictive control (MPC) and set-theoretic fault detection and isolation (FDI). As a robust MPC technique, tube-based MPC, can effectively deal with system constraints and uncertainties with relatively low computational complexity. Set-based FDI can robustly detect and isolate actuator faults. Here, fault detection (FD) is passive by invariant sets, while fault isolation (FI) is active by tubes. Using the constraint-handling ability of MPC controllers, an active FI approach is implemented. A numerical example illustrates the effectiveness of the proposed approach.
CitacióXu, F. [et al.]. Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation. A: IEEE Conference on Decision and Control. "2014 IEEE 53rd Annual Conference on Decision and Control (CDC)". Los Angeles: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 4959-4964.