Sensor Fault Tolerance in Output Feedback Nonlinear Model Predictive Control

This paper presents an active output feedback fault-tolerant model predictive control (MPC) scheme for systems with sensor faults. The proposed control scheme actively steers the system in order to prevent loss of observability caused by a sensor fault. To this end, the standard tracking objective of the MPC controller is augmented with an observability cost term which strongly penalizes unobservable state and input trajectories. A numerical example illustrates the use of the proposed approach on a target estimation and tracking control problem with faulty sensors.


Editor(s):
Sarrate, R
Published in:
2016 3Rd Conference On Control And Fault-Tolerant Systems (Systol), 711-716
Presented at:
3rd Conference on Control and Fault-Tolerant Systems (SysTol), Barcelona, SPAIN, SEP 07-09, 2016
Year:
2016
Publisher:
New York, Ieee
ISSN:
2162-1209
ISBN:
978-1-5090-0658-8
Keywords:
Laboratories:




 Record created 2017-02-17, last modified 2018-09-13


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