Robust Model Predictive Fault-Tolerant Control for Time-delay Uncertain Systems

摘要

For a class of time-delay discrete systems with constraints, actuator faults and polytopic-type uncertainties, the problem of robust fault-tolerant control is researched in this paper. Firstly, a new state space model with output error is introduced for reference trajectory tracking control, which provides more scope for controller designs and improves control effect. Then based on the predictive control theorem, a min-max robust model predictive control (RMPC) algorithm which considers time delay and the fault model is proposed. Using linear matrix inequality (LMI) technology and Lyapunov theory, the min-max optimization problem is transformed into a minimization problem and the asymptotic stability of closed-loop system is proved. Finally, the algorithm comparison experimental results on the quadrotor semi-physical simulation platform validate the feasibility and effectiveness of the proposed control scheme.