Set-based Fault-Tolerant Control of Convex Polytopic LPV Systems using a Bank of Virtual Actuators

We propose a robust actuator fault tolerant control strategy for systems with linear parameter varying (LPV) uncertainty model description. The scheme employs a set-based robust fault detection and identification (FDI) approach and a bank of virtual actuators (VA). An interesting feature is that the virtual actuators are used both for FDI and controller reconfiguration (CR) tasks. The robust FDI method is based on the separation of relevant sets defined for measurable residual signals, which are computed based on the virtual actuator signals and taking into account model uncertainty, noises and process disturbances. For CR, each VA is designed to operate adequately in combination with a nominal controller (designed for the fault-free plant) to achieve correct reconfiguration for a particular fault situation in a considered range of fault scenarios. The resulting robust fault tolerant control scheme ensures boundedness of the closedloop system trajectories under a wide range of actuator fault scenarios. The performance of the scheme is illustrated through a simulation example.