Decentralized Fault Detection and Fault-Tolerant Control for Nonlinear Interconnected Systems

Fault-Tolerant Control of a Nonlinear Process with Input Constraints

A Fault-Tolerant Control (FTC) methodology has been presented for nonlinear processes being imposed by control input constraints. The proposed methodology uses a combination of Feedback Linearization and Model Predictive Control (FLMPC) schemes. The resulting constraints in the transformed process will be dependent on the actual evolving states, making their incorporation in the de...

Integrated Fault-Detection and Fault-Tolerant Control of Process Systems

The problem of implementing fault-tolerant control to nonlinear processes with input constraints subject to control actuator failures is considered, and an approach predicated upon the idea of integrating fault-detection, feedback and supervisory control is presented and demonstrated. To illustrate the main idea behind the proposed approach, availability of measurements of all the process state...

Fault tolerant decentralized H∞ control for symmetric composite systems

A decentralized fault tolerant control strategy for multi-robot systems

The paper presents a fault tolerance control strategy for distributed multi-robot systems. The proposed approach is based on a distributed controller-observer architecture that allows each robot to estimate the global system state using local communication. We derive residual dynamics that allows each robot to detect and isolate faults of other robots, even if they are not directly connected. T...

Fault Tolerant Decentralized Control for Symmetric Composite Systems

This note discusses a class of large-scale systems composed of symmetrically interconnected identical subsystems. We consider the decentralized H1 control design problem and study the fault tolerance of the resulting system. By exploiting the special structure of the systems, a sufficient condition for the existence of a decentralized H1 controller is derived. Moreover, for the nominal case as ...