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

•Propose an approach to evaluate the actuator fault tolerance.•A nonlinear model predictive control (NMPC) system is considered.•The system is represented in a linear parameter varying (LPV) form.•Viability theory concepts in a set form (viability kernel, capture basin) is used.•Assess if after the...

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Vydáno v:	Journal of process control Ročník 71; s. 35 - 45
Hlavní autoři:	Ghaniee Zarch, Majid, Puig, Vicenç, Poshtan, Javad, Shoorehdeli, Mahdi Aliyari
Médium:	Journal Article Publikace
Jazyk:	angličtina
Vydáno:	Elsevier Ltd 01.11.2018
Témata:	Automàtica i control Errors de sistemes (Enginyeria) Fault tolerance (Engineering) Fault tolerance evaluation Informàtica Linear parameter varying system Model predictive control Set invariance theory System failures (Engineering) Tolerància als errors (Enginyeria) Viability theory Àrees temàtiques de la UPC Model predictive control Linear parameter varying system Set invariance theory Viability theory Fault tolerance evaluation
ISSN:	0959-1524, 1873-2771
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Popis
Shrnutí:	•Propose an approach to evaluate the actuator fault tolerance.•A nonlinear model predictive control (NMPC) system is considered.•The system is represented in a linear parameter varying (LPV) form.•Viability theory concepts in a set form (viability kernel, capture basin) is used.•Assess if after the fault the NMPC controller will be able to achieve their goal.•An algorithm is developed to assess the tolerance of the NMPC controller.•Two application examples (pasteurization plant, mobile robot) are used. 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.
ISSN:	0959-1524 1873-2771
DOI:	10.1016/j.jprocont.2018.08.006