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Robust predictive control with feasible contingencies for fault tolerance

Shekhar, RC and MacIejowski, JM (2011) Robust predictive control with feasible contingencies for fault tolerance. IFAC Proceedings Volumes (IFAC-PapersOnline), 44. pp. 4666-4671. ISSN 1474-6670

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This paper introduces the notion of M-step robust fault tolerance for discrete-time systems where finite-time completion of a control manoeuvre is desired. It considers a scenario with two distinct objectives; a primary and secondary target are specified as sets to be reached in finite-time, whilst satisfying operating constraints on the states and inputs. The primary target is switched to the secondary target when a fault affects the system. As it is unknown when or if the fault will occur, the trajectory to the primary target is constrained to ensure reachability of the secondary target within M steps. A variable-horizon linear MPC formulation is developed to illustrate the concept. The formulation is then extended to provide robustness to bounded disturbances by use of tightened constraints. Simulations demonstrate the efficacy of the controller formulation on a double-integrator model. © 2011 IFAC.

Item Type: Article
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:32
Last Modified: 09 Sep 2021 01:01
DOI: 10.3182/20110828-6-IT-1002.01683