A Sensor Fusion Approach to the Fault Tolerant Control of Linear Parameter Varying Systems

摘要

In this contribution we propose a fault tolerant control (FTC) scheme to compensate for sensor faults in multisensor fusion-based control of linear parameter varying systems. The scheme consists of a closed-loop system with an estimator-based feedback tracking controller that combines healthy sensor-estimator pairings via a fusion algorithm. Faulty sensors are detected and discarded based on a set separation criterion, which considers both model uncertainty and system disturbances. We ensure the preservation of closed-loop system boundedness for a wide range of sensor fault situations and for the whole domain of plant model uncertainty. To illustrate the performance of the proposed FTC strategy, a flexible joint robotic arm example is presented.