An infinite horizon model predictive control based  active  fault  tolerant adaptive control scheme

Rodrigo Ribeiro Santos; Márcio A. F. Martins; Oscar A. Z. Sotomayor

doi:10.20906/sbai.v1i1.2623

Rodrigo Ribeiro Santos Programa de Pós-Graduação em Mecatrônica, Escola Politécnica, Universidade Federal da Bahia, Salvador, BA
Márcio A. F. Martins Programa de Pós-Graduação em Mecatrônica, Escola Politécnica, Universidade Federal da Bahia, Salvador, BA
Oscar A. Z. Sotomayor Departamento de Engenharia Elétrica, Universidade Federal de Sergipe, São Cristovão, SE

DOI: https://doi.org/10.20906/sbai.v1i1.2623

Keywords: model predictive control, adaptive control, active fault-tolerant control, computational cost, performance improvement

Abstract

In view of the control performance degradation caused by operational faults, an adaptive infinite horizon model predictive control (IHMPC) integrated with active fault tolerance properties is presented. The proposed scheme includes a fault supervision layer composed of fault diagnosis and accommodation methods to provide the ability to update the nominal model of the controller. The simulation results in a nonlinear industrial reactor subject to process faults illustrate that the proposed approach achieves better dynamic performance and has a reduced computational cost compared to a robust IHMPC.