Publication

Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

Conference Article

Conference

IEEE Conference on Decision and Control (CDC)

Edition

53rd

Pages

4959-4964

Doc link

http://dx.doi.org/10.1109/CDC.2014.7040163

File

Download the digital copy of the doc pdf document

Authors

Abstract

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.

Categories

control system synthesis, control theory, predictive control.

Author keywords

actuator-fault tolerance, MPC, FDI, active FI

Scientific reference

F. Xu, V. Puig, C. Ocampo-Martínez, S. Olaru and S. Niculescu. Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation, 53rd IEEE Conference on Decision and Control, 2014, Los Angeles, pp. 4959-4964.