This paper proposes an active fault-tolerant control scheme based on a gain-scheduled H∞ design strategy. Under the assumption that the effects of faults on the system can be of affine parameter dependence, a reconfigurable robust H∞ controller is developed. The resulting controller is a function of the fault effect factors, which can be derived online from the residual vector of the fault detection and isolation (FDI) mechanism. To demonstrate the effectiveness of the proposed method, a non-linear double inverted pendulum system with a fault in the motor tachometer loop is considered. The adaptive fault-tolerant controller recovers well from the unstable system with loop failure.
ChenJ.PattonR. J.ChenZ.Active fault-tolerant flight control systems design using the linear matrix inequality methodTrans. Inst. Measmt Control, 1999, 21 (2/3), 77–84.
RauchH.Autonomous control reconfigurationIEEE Control Systems Mag., 1995, 15, 37–48.
4.
PattonR. J.Fault-tolerant control: the 1997 situation. In Proceedings of the IFAC Symposium SAFEPROCESS'97, Hull, 1997, Vol. 2, pp. 1033–1055.
5.
BlankeM.FreiC.KrausF.PattonR. J.StaroswieckiM.What is fault-tolerant control? In Proceedings of the IFAC Symposium SAFEPROCESS 2000, Budapest, Hungary, 2000, pp. 40–51.
6.
BlankeM.KinnaertM.LunzeJ.StaroswieckiM.Diagnosis and fault-tolerant control, 2003 (Springer, Berlin).
7.
PattonR. J.ChenJ.Fault-tolerant control using LMI design. In Proceedings of the European Control Conference, ECC'01, Porto, 4-7 September 2001.
8.
NiemannH.PoulsenJ. K.Analysis and design of controllers for a double inverted pendulum In Proceedings of the American Control Conference, Denver, Colorado, 2003, pp. 2803–2808.
9.
NiemannH.StoustrupJ.Passive fault-tolerant control of a double inverted pendulum - a case studyControl Engng Practice, 2005, 13, 1047–1059.
10.
ApkarianP.GahinetP.BeckerG.Self-scheduled H∞ control of linear parameter-varying systems: a design exampleAutomatica, 1995, 31, 1251–1261.
