Shekhar, RC and MacIejowski, JM (2011) Robust predictive control with feasible contingencies for fault tolerance. IFAC Proceedings Volumes (IFAC-PapersOnline), 18. pp. 4666-4671. ISSN 1474-6670Full text not available from this repository.
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.
|Uncontrolled Keywords:||Autonomous control Fault-tolerance Predictive control Robust control|
|Divisions:||Div F > Control|
|Depositing User:||Cron job|
|Date Deposited:||16 Jul 2015 14:09|
|Last Modified:||02 Aug 2015 03:24|