Design of robust predictive fault-tolerant control for Takagi-Sugeno fuzzy systems: Application to the twin-rotor system

The paper deals with the problem of robust predictive fault-tolerant control for non-linear discrete-time systems described by the Takagi-Sugeno models as well as application to the so-called Twin-Rotor system. Approach proposed in this paper is in fact series of three, i.e. it starts from fault estimation, which is subsequently compensated with a robust controller. While robust controller is designed without taking into account the input constraints, compensation feasibility is proven by introducing invariant set of states, which takes into account the input constraints. If the current state do not belong to a robust invariant set, appropriate predictive control actions are performed. This appealing phenomenon makes it possible to enlarge the domain of attraction, making the proposed approach an efficient solution for the fault-tolerant control. The final part of the paper shows an illustrative example of proposed approach to the Twin-Rotor system.