Fault tolerant control design for simultaneous actuator and sensor faults using multiple MPCs

An active fault tolerant control (FTC) scheme to tolerate simultaneous actuator and sensor fault is presented in this paper. The proposed scheme integrates the model predictive control (MPC), fault detector and fuzzy-based switching approach. The possible faults are foreseen and suitable MPCs are designed for each fault case. Kalman filter is used as fault detector. The supervisor on receiving the fault information feeds it to fuzzy classifier where the faults are classified based on residue value. Based on fuzzy classifier output, control configuration is switched on to new control configuration. An example of ball and hoop model is given to illustrate the effectiveness of the proposed method.