Tube based MPC for Actuator fault Tolerance using Set based Passive Fault Detection and Active Fault Isolation
In this paper, an actuator fault tolerant control (FTC) scheme is proposed, which is based on tube based model predictive control (MPC) and set theoretic fault detection and isolation (FDI) As a robust MPC technique, tube based MPC, can effectively deal with system constraints and uncertainties with relatively low computational complexity. Set based FDI can robustly detect and isolate actuator faults. Here, fault detection (FD) is passive by invariant sets, while fault isolation (FI) is active by tubes. Using the constraint handling ability of MPC controllers, an active FI approach is implemented. A numerical example illustrates the effectiveness of the proposed approach.