A robust predictive actuator fault-tolerant control scheme for Takagi-Sugeno fuzzy systems

Bulletin of the Polish Academy of Sciences. Technical Sciences

M. WitczakCorresponding authorInstitute of Control and Computation Engineering, University of Zielona Góra, 9 Licealna St., 65-417 Zielona Góra, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar¹  J. KorbiczInstitute of Control and Computation Engineering, University of Zielona Góra, 9 Licealna St., 65-417 Zielona Góra, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  P. WitczakInstitute of Control and Computation Engineering, University of Zielona Góra, 9 Licealna St., 65-417 Zielona Góra, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  Ch. AubrunUniversite de Lorraine, CRAN, UMR 7039, Campus Sciences, BP70239, Vandoeuvre-les-Nancy Cedex 54506, FranceOther articles by this author:De Gruyter OnlineGoogle Scholar² 

[1] Institute of Control and Computation Engineering, University of Zielona Góra, 9 Licealna St., 65-417 Zielona Góra, Poland;Universite de Lorraine, CRAN, UMR 7039, Campus Sciences, BP70239, Vandoeuvre-les-Nancy Cedex 54506, France

关键词: Keywords: fault diagnosis;    fault identification;    robust control;    robust invariant set;    predictive control;    fault-tolerant control;   

DOI  :  10.1515/bpasts-2015-0111

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

The paper deals with the problem of robust predictive fault-tolerant control for nonlinear discrete-time systems described by the Takagi-Sugeno models. The proposed approach is based on a triple stage procedure, i.e. it starts from fault estimation while the fault is compensated with a robust controller. The robust controller is designed without taking into account the input constraints related with the actuator saturation that may change due to its faulty behaviour. Thus, to check the compensation feasibility, the robust invariant set is developed, which takes into account the input constraints. If the current state does not belong to the robust invariant set, then suitable predictive control actions are performed in order to enhance the invariant set. This appealing phenomenon makes it possible to enlarge the domain of attraction, which makes the proposed approach an efficient solution for the fault-tolerant control. The final part of the paper shows an illustrative example regarding the application of the proposed approach to the twin-rotor system.

【 授权许可】

Unknown