Incipient Actuator Fault Handling in Nonlinear Model Predictive Control

Actuator Fault Compensation Control for Nonlinear Systems

The partial loss of actuator effectiveness is considered for the control of a class of nonlinear processes in the presence of a fault. Not only unmatched uncertainties, but also matched uncertainties are discussed in Lyapunov stability sense. The partial loss of actuator effectiveness is approximated by high order neural networks. Application of the proposed design indicates that the fault comp...

A performance optimization algorithm for controller reconfiguration handling actuator faults in fault tolerant distributed model predictive control

This paper presents a performance optimization algorithm for controller reconfiguration in fault tolerant distributed model predictive control for large-scale systems. After the fault has been detected and diagnosed, several controller reconfigurations are proposed as candidate corrective actions for the fault compensation. The solution of a set of constrained optimization problems with differe...

Fault Tolerant Model Predictive Control of Quad-Rotor Helicopters with Actuator Fault Estimation

Model predictive control (MPC) at each time step minimizes a cost function subject to dynamical constraints to obtain a stabilizing control signal. Further, MPC is one of the few methodologies that can be used to design feedback control for nonlinear dynamical systems taking into consideration of actuator saturations. It can thus serve as a suitable fault tolerant control approach for quad-roto...

Nonlinear Model Predictive Control

Disturbance Handling in Economic Model Predictive Control

Economic model predictive control (EMPC) is a recent development of MPC where the usual quadratic objective is replaced by an economic objective reflecting the real cost of operation (Ellis et al., 2014). The target in EMPC is hence to directly minimize the cost of operation whereas the usual target in MPC is to keep the process close to a predetermined steady-state or trajectory (sometimes det...