Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

In this paper, an actuator fault-tolerant control (FTC) scheme is proposed, which is based on tube-based model predictive control (MPC) and set-based fault detection and isolation (FDI). As a robust MPC technique, tube-based MPC can effectively deal with system constraints and uncertainties with relatively low complexity. Set-based FDI can implement robust fault diagnosis. In this scheme, fault detection (FD) is passive by invariant sets, while fault isolation (FI) is active by MPC and tubes. Using the constraint-handling ability of MPC, an active FI approach is implemented. This paper is ended up with an example to illustrate the effectiveness of the scheme.