Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints |
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| Affiliation: | 1. Systems & Control Engineering, IIT Bombay, Powai, Mumbai 400076, India;2. Institute of Environmental Science and Technology, The University of Kitakyushu, Fukuoka 808-0135, Japan;3. Automatic Control Group, EIM-E, Warburger Strasse 100, 33098 Paderborn, Germany;4. Industrial Engineering & Operations Research, IIT Bombay, Powai, Mumbai 400076, India;1. College of Engineering, University of Washington, Seattle, WA, USA;2. College of Engineering, University of Iowa, Iowa City, IA, USA;1. Graduate School of Informatics, Kyoto University, Kyoto 606-8501, Japan;2. Institute of Environmental Science and Technology, The University of Kitakyushu, Fukuoka 808-0135, Japan;3. Systems and Control Engineering, Indian Institute of Technology (IIT) Bombay, Powai, Mumbai, 400076 Maharashtra, India;1. College of Life Science and Technology, Inner Mongolia Normal University, Hohhot 010022, China;2. College of Life Science, Tianjin Normal University, Tianjin Key Laboratory of Animal and Plant Resistance, Tianjin 300387, China;3. Institute of Biological Anthropology in Liaoning Medical University, Jinzhou 121001, China |
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| Abstract: | A method is proposed for on-line reconfiguration of the terminal constraint used to provide theoretical nominal stability guarantees in linear model predictive control (MPC). By parameterising the terminal constraint, its complete reconstruction is avoided when input constraints are modified to accommodate faults. To enlarge the region of feasibility of the terminal control law for a certain class of input faults with redundantly actuated plants, the linear terminal controller is defined in terms of virtual commands. A suitable terminal cost weighting for the reconfigurable MPC is obtained by means of an upper bound on the cost for all feasible realisations of the virtual commands from the terminal controller. Conditions are proposed that guarantee feasibility recovery for a defined subset of faults. The proposed method is demonstrated by means of a numerical example. |
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| Keywords: | Model predictive control Reconfigurable control Fault-tolerant control |
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