Abstract
AbstractIn this paper, model predictive control (MPC) problem with fault‐tolerance capabilities is formulated within the hybrid systems framework. In particular, the mixed logical dynamic form to represent hybrid systems is considered. Using this approach, a hybrid model of the system to be controlled is obtained, which includes inherent hybrid phenomena and possible modes caused by faults occurrence. This allows to adapt the system model on‐line by taking into account the fault information provided by a fault diagnosis and isolation module. In this way, the controller can cope with the considered faults. Additionally, different implementation schemes and fault‐tolerance evaluation procedures for hybrid MPC (HMPC) considering fault‐tolerance capabilities are proposed and discussed. Finally and in order to exemplify the implementation of the proposed approach, it is applied to include actuator fault tolerance in the design of a HMPC controller for a portion of the sewer network of Barcelona. Copyright © 2008 John Wiley & Sons, Ltd.
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