Fault-tolerant control design for linear systems with input constraints and actuator failures

This paper presents an active fault-tolerant control (FTC) scheme for linear systems subject to input constraints and actuator failures. The proposed scheme is based on integrating model predictive control (MPC), fault-detection filter and soft switching approach. Multiple MPC controllers are designed beforehand; one is used as primary control configuration, and the others are used as backup control configurations. A fault-detection filter is designed to detect actuator faults. Once a fault is detected and the fault information is submitted to the supervisor, one of the backup control configurations is switched to using soft switching approach. This FTC scheme provides a new framework to deal with input constraints and actuator failures simultaneously. An example is given to illustrate the effectiveness of the proposed method.