FAULT TOLERANT CONTROL USING FUZZY MPC

Abstract

This paper describes the application of fault-tolerant control (FTC) using fuzzy model-based predictive control. The proposed FTC approach is based on two steps, fault detection and isolation (FDI) and fault accommodation. This paper uses a model-based FDI approach using fuzzy modeling. Further, fault isolation is performed by using a fuzzy decision making approach. Fault accommodation uses a multiple model approach, where one fuzzy model is identified for each fault. This paper proposes the use of FDI information to select the model to be used in the controller. The selected model is then used in a model predictive control (MPC) scheme. The FTC approach was tested in a container gantry crane simulator. Two faults were simulated, and the respective fuzzy models were identified. The FTC scheme proposed in this paper was able to accommodate the simulated faults.