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Actuator fault-tolerant control based on set separation
Ocampo-Martínez, Carlos; Doná, José A. de; Serón, María
Institut de Robòtica i Informàtica Industrial
In this report an actuator fault-tolerant control (FTC) strategy based on set separation is presented. The proposed scheme employs a bank of observers which match the different fault situations that can occur in the plant. Each of these observers has an associated estimation error with a distinctive behaviour when a estimator matches the current fault situation of the plant. With this information from each observer, a fault diagnosis and isolation (FDI) module is able to reconfigure the control loop by selecting the appropriate stabilising controller from a bank of precomputed control laws, each of them related to one of the considered fault models. The control law consists of a reference feedforward term and a feedback gain multiplying the state estimate provided by the matching observer. The decision criteria of the FDI is based on the computation of sets towards which the output estimation errors related to each fault scenario and for each control configuration converge. Conditions for the design of the FDI module and for fault tolerant closed-loop stability are given, and the effectiveness of the approach is illustrated by means of a numerical example.
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Àrees temàtiques de la UPC::Matemàtiques i estadística::Anàlisi numèrica
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Automatic control
Control theory
Linear control systems
Adaptive control systems
fault-tolerant control
actuator faults
fault diagnosis and isolation
invariant sets
Sistemes de control
Control, Teoria de
Control òptim, Teoria del
Sistemes adaptatius
Classificació INSPEC::Control theory::Control system analysis::Control system analysis computing
Classificació INSPEC::Control theory::Controllability
Classificació INSPEC::Control theory::Optimal control::Linear quadratic control
Classificació INSPEC::Control theory::Adaptive control::Model reference adaptive control systems
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