Repository logo
 

Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints


Change log

Authors

Hartley, EN 
Maciejowski, JM 

Abstract

A method is proposed for on-line recon guration of the terminal constraint used to provide theoretical nominal stability guarantees in linear model predictive control (MPC). By parameterising the terminal constraint, its complete reconstruction is avoided when input constraints are modi ed to accommodate faults. To enlarge the region of feasibility of the terminal control law for a certain class of input faults with redundantly actuated plants, the linear terminal controller is de ned in terms of virtual commands. A suitable terminal cost weighting for the recon gurable MPC is obtained by means of an upper bound on the cost for all feasible realisations of the virtual commands from the terminal controller. Conditions are proposed that guarantee feasibility recovery for a de ned subset of faults. The proposed method is demonstrated by means of a numerical example.

Description

Keywords

Model predictive control, Reconfigurable control, Fault-tolerant control

Journal Title

Systems and Control Letters

Conference Name

Journal ISSN

0167-6911
1872-7956

Volume Title

66

Publisher

Elsevier BV
Sponsorship
European Commission (314544)
The research leading to these results has received function from the European Union Seventh Framework Programme FP7/2007{2013 under grant agreement no. 314 544.