Publication

Actuator fault tolerance evaluation approach of nonlinear model predictive control systems using viability theory

Journal Article (2018)

Journal

Journal of Process Control

Pages

35-45

Volume

71

Doc link

http://dx.doi.org/10.1016/j.jprocont.2018.08.006

File

Download the digital copy of the doc pdf document

Abstract

In this paper, an approach to evaluate the actuator fault tolerance of a nonlinear model predictive control (NMPC) system using viability theory is proposed. Viability theory provides several concepts formulated in a set form (viability kernel and capture basin) that are very useful to assess if after the fault the NMPC controller will be able to achieve their goal either using a reconfiguration or an accommodation strategy. By representing the nonlinear model of the system in a linear parameter varying (LPV) form and using zonotopes to evaluate viability sets, an algorithm is developed and implemented that is able to assess the tolerance of the NMPC controller. To illustrate the proposed approach two application examples based on well-known control problems (a pasteurization plant and a mobile robot) are used.

Categories

control theory.

Scientific reference

M. Ghaniee Zarch, V. Puig, J. Poshtan and M. Aliyari Shoorehdeli. Actuator fault tolerance evaluation approach of nonlinear model predictive control systems using viability theory. Journal of Process Control, 71: 35-45, 2018.