Title :
Fault-tolerant controller synthesis for piecewise-affine systems
Author :
Nayebpanah, Nastaran ; Rodrigues, Luis ; Zhang, Youmin
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC, Canada
Abstract :
In this paper, fault-tolerant, state feedback controllers are synthesized for piecewise-affine (PWA) systems while minimizing an upper bound of a quadratic cost function. The controllers are designed to deal with partial loss of control authority in the closed loop PWA system. The proposed controller design technique stabilizes and satisfies performance bounds for both the nominal and faulty systems. The new control technique is applied to a PWA model of a wheeled mobile robot (WMR) and the results are compared against a linear quadratic regulator (LQR) in simulation.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; fault tolerance; mobile robots; nonlinear control systems; stability; state feedback; Lyapunov function; WMR model; closed loop PWA system; control authority; fault-tolerant controller synthesis; nonlinear system; piecewise-affine system; quadratic cost function; stability analysis; state feedback controller; wheeled mobile robot; Circuit faults; Control system synthesis; Control systems; Cost function; Fault tolerant systems; Mobile robots; Nonlinear control systems; State-space methods; Switches; Upper bound;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160605
