- Title
- Sensor switching fault tolerant MPC for constrained LPV systems
- Creator
- McCloy, R.; De Doná, J.; Seron, M.
- Relation
- 2017 IEEE 56th Annual Conference on Decision and Control (CDC). Proceedings of the 2017 IEEE 56th Annual Conference on Decision and Control (Melbourne 12-15 December, 2017) p. 6377-6382
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2017.8264621
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2017
- Description
- We propose a robust fault tolerant control scheme for constrained linear parameter varying systems that compensates for sensor faults using multiple sensor switching. The closed-loop system consists of an estimate based feedback tracking controller and sensor-estimate switching strategy driven by a tube-based model predictive control reference. Fault detection is achieved by monitoring suitable residual variables by means of a set separation criterion, which facilitates the selection of a sensor-estimate pairing based on available healthy sensors. The proposed scheme robustly preserves closed-loop system boundedness for a range of sensor fault situations.
- Subject
- switches; robot sensing systems; electron tubes; current measurment; noise measurment; estimation error
- Identifier
- http://hdl.handle.net/1959.13/1385360
- Identifier
- uon:32213
- Identifier
- ISBN:9781509028733
- Language
- eng
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