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2012 | 22 | 1 | 211-223

Tytuł artykułu

Robust multisensor fault tolerant model-following MPC design for constrained systems

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In this paper, a robust fault-tolerant control strategy for constrained multisensor linear systems, subject to sensor faults and in the presence of bounded state and output disturbances, is proposed. The scheme verifies that, for each sensors-estimator combination, suitable residual variables lie inside pre-computed sets and selects a more appropriate combination based on a chosen criterion. An active fault tolerant output feedback controller yields an MPC-based control law and, by means of the notion of a "tube" of trajectories, we ensure robust closed-loop exponential stability and good performance in the fault-free case and under the occurrence of abrupt sensor faults.








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  • Centre for Complex Dynamic Systems and Control (CDSC), School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia
  • Centre for Complex Dynamic Systems and Control (CDSC), School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia
  • Centre for Complex Dynamic Systems and Control (CDSC), School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia


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  • Mendonça, L., Vieira, S., Sousa, J. and da Costa, J.S. (2006). Fault accommodation using fuzzy predictive control, Proceedings of the IEEE International Conference on Fuzzy Systems, Vancouver, BC, pp. 1535-1542.
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  • Ocampo-Martinez, C. and Puig, V. (2008). Fault-tolerant control model predictive control within the hybrid systems framework: Application to sewer networks, International Journal of Adaptive Control and Signal Processing 23(8): 757-787.
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  • Seron, M., Zhuo, X., De Doná, J. and Martínez, J. (2008). Multisensor switching control strategy with fault tolerance guarantees, Automatica 44(1): 88-97.
  • Sheng-Qi, S., Dong, L., Lin, L. and Shu-Sheng, G. (2008). Faulttolerant control for constrained linear systems based on MPC and FDI, International Journal of Information and Systems Sciences 4(4): 512-523.
  • Sun, S. and Deng, Z. (2008). Distributed optimal fusion steadystate Kalman filter for systems with coloured measurement noises, International Journal of Systems Science 36(3): 113-118.
  • Yetendje, A., De Doná, J. and Seron, M. (2011). Multisensor fusion fault-tolerant control, Automatica 47(7): 1461-1466.
  • Yetendje, A., Seron, M. and De Doná, J. (2010). Robust MPC design for fault tolerance of constrained multisensor linear systems, Conference on Control and Fault-Tolerant Systems (SysTol' 10), Nice, France, pp. 752-758.
  • Yetendje, A., Seron, M., De Doná, J. and Martínez, J.J. (2010). Sensor fault-tolerant control of a magnetic levitation system, International Journal of Robust and Nonlinear Control 20(18): 2108-2121.

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