Incipient actuator fault handling in nonlinear model predictive control

Publikationstyp
Conference Paper
Date Issued
2017
Sprache
English
Author(s)
Knudsen, Brage Rugstad
Faulwasser, Timm  
Jones, Colin  
Foss, Bjarne
TORE-URI
https://hdl.handle.net/11420/46246
Journal
IFAC-PapersOnLine  
Volume
50
Issue
1
Start Page
15922
End Page
15927
Citation
IFAC-PapersOnLine 50 (1): 15922-15927 (2017)
Contribution to Conference
20th IFAC World Congress 2017  
Publisher DOI
10.1016/j.ifacol.2017.08.1743
Scopus ID
2-s2.0-85033371580
Publisher
Elsevier
This paper presents a reconfigurable nonlinear model predictive control (NMPC) scheme for handling of incipient actuator faults in nonlinear plants. The scheme seeks to ensure recoverability from an incipient actuator fault in plants where the input redundancy is insufficient to stabilize the faulty system at the nominal operating point, thereby requiring transition to a safe control-invariant set. To this end, the proposed scheme takes into account an estimate of the decrease in remaining actuator capacity from the time of detection of an incipient actuator fault, and minimizes the required control input to steer the plant to the safe set. We provide conditions for stability and fault recoverability of the proposed scheme, and demonstrate its applicability on a numerical example with two CSTRs in series.
Subjects
Fault-tolerant Control
Nonlinear Model Predictive Control
Process Control
DDC Class
004: Computer Sciences
510: Mathematics