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

In this paper, an actuator fault-tolerant control (FTC) scheme is proposed, which is based on tube-based model predictive control (MPC) and set-based fault detection and isolation (FDI). As a robust MPC technique, tube-based MPC can effectively deal with system constraints and uncertainties with relatively low complexity. Set-based FDI can implement robust fault diagnosis. In this scheme, fault detection (FD) is passive by invariant sets, while fault isolation (FI) is active by MPC and tubes. Using the constraint-handling ability of MPC, an active FI approach is implemented. This paper is ended up with an example to illustrate the effectiveness of the scheme.

[1]  Vicenç Puig,et al.  Actuator-fault detection and isolation based on set-theoretic approaches , 2014 .

[2]  J. D. Boskovic,et al.  Fault accommodation using model predictive methods , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[3]  Sorin Olaru,et al.  Set-theoretic Fault-tolerant Control in Multisensor Systems: Stoican/Set-theoretic Fault-tolerant Control in Multisensor Systems , 2013 .

[4]  Michel Kinnaert,et al.  Diagnosis and Fault-Tolerant Control , 2006 .

[5]  David Q. Mayne,et al.  Robust output feedback model predictive control of constrained linear systems , 2006, Autom..

[6]  Richard D. Braatz,et al.  Fault-tolerant model predictive control with active fault isolation , 2013, 2013 Conference on Control and Fault-Tolerant Systems (SysTol).

[7]  José A. De Doná,et al.  Robust MPC multicontroller design for actuator fault tolerance of constrained systems , 2011 .

[8]  Lin Li,et al.  FAULT-TOLERANT CONTROL FOR CONSTRAINED LINEAR SYSTEMS BASED ON MPC AND FDI , 2008 .

[9]  David Q. Mayne,et al.  Invariant approximations of the minimal robust positively Invariant set , 2005, IEEE Transactions on Automatic Control.

[10]  C. Combastel.  A state bounding observer based on zonotopes , 2003, 2003 European Control Conference (ECC).

[11]  Eduardo F. Camacho,et al.  Guaranteed state estimation by zonotopes , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[12]  Sorin Olaru,et al.  Positive invariant sets for fault tolerant multisensor control schemes , 2008 .