Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

• Autorzy: Xu F. , Puig V. , Ocampo-Martinez C. , Olaru S. , Niculescu S. I.

Identyfikatory

DOI

10.1515/amcs-2017-0004

• Języki publikacji: EN

Abstrakty

EN

In this paper, a fault-tolerant control (FTC) scheme is proposed for actuator faults, which is built upon tube-based model predictive control (MPC) as well as set-based fault detection and isolation (FDI). In the class of MPC techniques, tube-based MPC can effectively deal with system constraints and uncertainties with relatively low computational complexity compared with other robust MPC techniques such as min-max MPC. Set-based FDI, generally considering the worst case of uncertainties, can robustly detect and isolate actuator faults. In the proposed FTC scheme, fault detection (FD) is passive by using invariant sets, while fault isolation (FI) is active by means of MPC and tubes. The active FI method proposed in this paper is implemented by making use of the constraint-handling ability of MPC to manipulate the bounds of inputs. After the system has been detected to become faulty, the input-constraint set of the MPC controller is adjusted to actively excite the system for achieving FI guarantees on-line, where an active FI-oriented input set is designed off-line. In this way, the system can be excited in order to obtain more extra system-operating information for FI than passive FI approaches. Overall, the objective of this paper is to propose an actuator MPC scheme with as little as possible of FI conservatism and computational complexity by combining tube-based MPC and set theory within the framework of MPC, respectively. Finally, a case study is used to show the effectiveness of the proposed FTC scheme.

Słowa kluczowe

EN

fault detection; fault isolation; set theoretic method; fault tolerant control; model predictive control

PL

detekcja uszkodzeń; lokalizacja uszkodzeń; sterowanie tolerujące uszkodzenia; sterowanie predykcyjne

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2017
• Tom: Vol. 27, no. 1
• Strony: 43--61
• Opis fizyczny: Bibliogr. 20 poz., rys., tab., wykr.

Twórcy

autor

Xu F.

• Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Technical University of Catalonia (UPC), Llorens i Artigas, 4–6, 08028 Barcelona, Spain; Center of Intelligent Control and Telescience, Graduate School at Shenzhen, Tsinghua University, University Town, Nanshan, 518055 Shenzhen, PR China

autor

Puig V.

• Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Technical University of Catalonia (UPC), Llorens i Artigas, 4–6, 08028 Barcelona, Spain

autor

Ocampo-Martinez C.

• Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Technical University of Catalonia (UPC), Llorens i Artigas, 4–6, 08028 Barcelona, Spain

autor

Olaru S.

• Automatic Control Department, E3S (Supélec Systems Sciences), 3 rue Joliot-Curie, 91192 Gif sur Yvette, Paris, France

autor

Niculescu S. I.

• Laboratory of Signals and Systems, CNRS—Centrale Supélec, 3 rue Joliot Curie, 91192 Gif sur Yvette, Paris, France

Bibliografia

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• [9] Ocampo-Martinez, C., Doná, J.D. and Seron, M. (2010). Actuator fault-tolerant control based on set separation, International Journal of Adaptive Control and Signal Processing 24(12): 1070–1090.
• [10] Olaru, S., Doná, J.D., Seron, M. and Stoican, F. (2010). Positive invariant sets for fault tolerant multisensor control schemes, International Journal of Control 83(12): 2622–2640.
• [11] Osella, E., Haimovich, H. and Seron, M. (2015). Integration of invariant-set-based FDI with varying sampling rate virtual actuator and controller, International Journal of Adaptive Control and Signal Processing 30(2): 393–411.
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• [15] Sun, S., Dong, L., Li, L. and Gu, S. (2008). Fault-tolerant control for constrained linear systems based on MPC and FDI, International Journal of Information and Systems Sciences 4(4): 512–523.
• [16] Xu, D., Jiang, B. and Shi, P. (2012). Nonlinear actuator fault estimation observer: An inverse system approach via a T–S fuzzy model, International Journal of Applied Mathematics and Computer Science 22(1): 183–196, DOI: 10.2478/v10006-012-0014-9.
• [17] Xu, F., Puig, V., Ocampo-Martinez, C., Olaru, S. and Nicolescu, S. (2014). Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation, Proceedings of the IEEE Conference on Decision and Control, Los Angeles, CA, USA, pp. 4959–4964.
• [18] Yang, X. and Maciejowski, J.M. (2015). Fault tolerant control using Gaussian processes and model predictive control, International Journal of Applied Mathematics and Computer Science 25(1): 133–148, DOI: 10.1515/amcs-2015-0010.
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• [20] Yetendje, A., Seron, M.M. and De Doná, J.A. (2012). Robust multisensor fault tolerant model-following MPC design for constrained systems, International Journal of Applied Mathematics and Computer Science 22(1): 211–223, DOI: 10.2478/v10006-012-0016-7.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).