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A virtual actuator approach for fault tolerant control of switching LPV systems
Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIC - Sistemes Intel·ligents de Control; Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control
In this paper, virtual actuators are proposed as a Fault Tolerant Control (FTC) strategy for switching Linear Parameter Varying (LPV) systems subject to actuator faults. The overall solution relies on the addition of a virtual actuator block that keeps the stability and some desired performances without the need of retuning the nominal controller. It is shown that the design can be performed using polytopic techniques and Linear Matrix Inequalities (LMIs). Simulation results obtained with a four-wheeled omnidirectional mobile robot example are used to demonstrate the effectiveness of the proposed approach
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
Fault tolerance (Engineering)
Actuators
Linear parametrically varying (LPV) methodologies
Fault Tolerant Control
Virtual Actuators
Model Reference
Tolerància als errors (Enginyeria)
Actuadors
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