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

fYear

2009

fDate

10-12 June 2009

Firstpage

222

Lastpage

226

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5160605

Filename

5160605