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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Bibliographic Details
Published in:Journal of process control Vol. 71; pp. 35 - 45
Main Authors: Ghaniee Zarch, Majid, Puig, Vicenç, Poshtan, Javad, Shoorehdeli, Mahdi Aliyari
Format: Journal Article Publication
Language:English
Published: Elsevier Ltd 01.11.2018
Subjects:
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
Online Access:Get full text
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Summary:•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