A virtual actuator and sensor approach for fault tolerant control of LPV systems |
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| Affiliation: | 1. Advanced Control Systems (SAC) Research Group, Department of Automatic Control (ESAII), Technical University of Catalonia (UPC), Rambla de Sant Nebridi 10, 08222 Terrassa, Spain;2. Institut de Robòtica i Informàtica Industrial (IRI), UPC-CSIC, Llorens i Artigas, 4-6, 08028, Barcelona, Spain;1. Robotics Institute, Khalifa University, P.O. Box 127788, Abu Dhabi, United Arab Emirates;2. Department of Mechanical Engineering, University of British Columbia, Kelowna, Canada;3. Department of Mechanical Engineering, American University of Sharjah, Sharjah, United Arab Emirates;4. Department of Mechanical Engineering, Jordan University of Science & Technology, Irbid, Jordan;5. Department of Electrical Engineering, Khalifa University, Abu Dhabi, United Arab Emirates;6. Faculty of Science, Engineering and Computing, Kingston University London, London SW15 3DW, UK;1. Department of Electrical Engineering, University of Technology, Baghdad, Iraq;2. School of Engineering, University of Hull, Hull HU6 7RX, UK;1. Laboratoire d’Automatique et Génie des Procédés, Université de Lyon, Lyon F-69003, France;2. Université Lyon 1, CNRS UMR 5007, Villeurbanne F-69622, France;3. Centre de Recherche en Automatique de Nancy, Université de Lorraine, CNRS UMR 7039, France;1. Aerospace Research Institute (Ministry of Science, Research and Technology), Tehran, Iran;2. Khajeh Nasir Toosi University of Technology, Tehran, Iran |
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| Abstract: | In this paper, a fault tolerant control (FTC) strategy using virtual actuators and sensors for linear parameter varying (LPV) systems is proposed. The main idea of this FTC method, initially developed for LTI systems, is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator/sensor is modified adding the virtual actuator/sensor block that masks the actuator/sensor fault. The suggested technique is an active FTC strategy that reconfigures the virtual actuator/sensor on-line taking into account faults and operating point changes. The stability of the reconfigured control loop is guaranteed if the faulty plant is stabilizable/detectable. The LPV virtual actuator/sensor is designed using polytopic LPV techniques and linear matrix inequalities (LMIs). A two-tank system simulator is used to assess the performance of the proposed method. In particular, it is shown that the application of the proposed technique results in an improvement, in terms of performance, with respect to the LTI counterpart. |
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| Keywords: | Fault tolerant control Linear parameter varying Virtual actuator Virtual sensor Linear matrix inequality |
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