Abstract
In this paper, a robust Fault Tolerant Control reconfiguration approach using State Flow Machines is proposed. Indeed, this reconfiguration strategy is based on robust flatness-based switching control using state machines and flow charts. This approach is developed in discrete time framework in order to track a reference trajectory starting from a flat output variable. For each model, a corresponding flatness-based controller is designed and consequently, a multi controller structure is obtained. The switching flatness-based control is based on switching between identified Operating Modes (OM) using state flow machines. The Luenberger observer’s gains are determined using LMIs tools in order to identify the corresponding OM. The localization of the current OM is carried out by minimization of a performance test characterizing the distance between the system and the given OM. Study of the stability as well as the use of anti-windup devices related to switching between controllers have been considered in the proposed approach. The proposed approach is applied to the nonlinear system which is in our case of study an Electronic Throttle Valve (ETV) using state flow machines modeling.
Highlights
General multiple model-based control approaches have been developed in last decade
The flatness control law is given by the following relation uk, j = K(q)zdk, j + (a − k)Zk, j where a and k are two constant vectors constituted by the a j,i and ki coefficients of the A j(q) and K(q) polynomials given by a = a j,0 a j,1 · · · a j,n−1, k = k0 k1 · · · kn−1 (10)
By substituting in equation (28), the expressions Ce, C f and Cr and by neglecting the torque generated by the airflow Ca, the transfer function of the model becomes such as (29)
Summary
General multiple model-based control approaches have been developed in last decade. In the literature, there are many strategies that take in consideration the multi-models methods used for reconfiguration of control law, [1], [2] and [3]. Controller switching approach represents a class of active fault tolerant control detailed in [5]. Multiple Models Switching and Tuning (MMST) approach that concerns more the reconfigurable control method is proposed in [3], [6] and [7]. For a nonlinear process with multiple OMs, a robust control reconfiguration strategy, based on switching control, is used to ensure stability and desired performances.
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