1 Automation & Control, The Technical Faculty of IT and Design, Aalborg University, VBN2 Department of Electronic Systems, The Technical Faculty of IT and Design, Aalborg University, VBN3 The Faculty of Engineering and Science (TECH), Aalborg University, VBN4 Aalborg U Robotics, The Faculty of Humanities, Aalborg University, VBN
In this paper we consider the problem of fault estimation and accommodation for discrete time piecewise linear systems. A robust fault estimator is designed to estimate the fault such that the estimation error converges to zero and H∞ performance of the fault estimation is minimized. Then, the estimate of fault is used to compensate for the effect of the fault. Hence, using the estimate of fault, a fault tolerant controller using a piecewise linear static output feedback is designed such that it stabilizes the system and provides an upper bound on the H∞ performance of the faulty system. Sufficient conditions for the existence of robust fault estimator and fault tolerant controller are derived in terms of linear matrix inequalities. Upper bounds on the H∞ performance can be minimized by solving convex optimization problems with linear matrix inequality constraints. The efficiency of the method is demonstrated by means of a numerical example.
Proceedings of the Ieee Conference on Control Applications, 2012, p. 1680-1685
fault estimation; fault diagnosis; piecewise affine systems; H infinity control; Fault tolerant control
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I E E E International Conference on Control Applications. Proceedings