Fault‐tolerant fusion‐based MPC with sensor recovery for constrained LPV systems |
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| Authors: | R McCloy J De Doná M Seron |
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| Affiliation: | School of Electrical Engineering and Computing, The University of Newcastle, Newcastle, NSW, Australia |
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| Abstract: | In this paper, we present a robust fault‐tolerant control scheme for constrained multisensor linear parameter‐varying systems, subject to bounded disturbances, that utilises multiple sensor fusion. The closed‐loop scheme consists of a tube model predictive control‐based feedback tracking controller and sensor‐estimate fusion strategy, which allows for the reintegration of previously faulty sensors. The active fault‐tolerant fusion‐based mechanism tracks the healthy‐faulty transitions of suitable residual variables by means of set separation and precomputed transition times. The sensor‐estimate pairings are then reconfigured based on available healthy sensors. Under the proposed scheme, robust preservation of closed‐loop system boundedness is guaranteed for a wide range of sensor fault situations. An example is presented to illustrate the performance of the fault‐tolerant control strategy. |
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| Keywords: | fault‐tolerant control invariant sets linear parameter‐varying systems model predictive control sensor recovery |
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