Robust Fault Tolerant Linear Quadratic Control based on Admissible Model Matching

Abstract

In Admissible Model Matching (AMM), fault tolerance aims at matching any model of an a priori specified set of admissible models, rather than at searching for an optimal approximation of a single reference one, as in the pseudo-inverse and modified pseudo-inverse methods. This approach allows to clearly characterize the set of recoverable faults, and moreover it exhibits a specific robustness property. This paper presents the AMM approach and applies it to the Linear Quadratic control design, by defining admissibility through an acceptable level of performance degradation.

Real-time performance comparison of fault-tolerant controllers

“…T The Linear Quadratic Controller (LQ) is one of the most used optimal controllers. Its usefulness for FTC has been shown by [18] and [19]. The LQ has several advantages as a candidate for FTC.…”

Supervisory fault tolerant control of the GTM UAV using LPV methods

“…Redundancy on sensor and actuator levels makes it possible to realize the same functionality using different sensor and actuator configurations, i.e., control reconfigurations. Thus integrated design is motivated by the needs of reconfigurable and reliable control, see, e.g., [23], [25]. Recently, several important papers have been presented in this topic, see, e.g., [31], [26], [10].…”

Fault Tolerant LPV Control of the GTM UAV with Dynamic Control Allocation

“…Redundancy on sensor and actuator levels makes it possible to realize the same functionality using different sensor and actuator configurations, i.e., control reconfigurations. Thus integrated design is motivated by the needs of reconfigurable and reliable control, see, e.g., [30,32]. Recently, several important papers have been presented in this topic, see, e.g., [38,33,13].…”