Design of an active fault tolerant control for nonlinear systems described by a multi-model representation

Mickael Rodrigues (1) , Didier Theilliol (1) , Dominique Sauter (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

In this paper, an new active Fault Tolerant Control (FTC) strategy is developed to nonlinear systems described by multiple linear models to prevent the system deterioration by the synthesis of adapted controllers. When a fault is detected by the fault detection and diagnosis scheme, the reconfigurable controller is designed automatically using a robust gain scheduling strategy. The main contribution concerns the design of state feedback gains through LMI both in fault-free and faulty cases in order to preserve the system performances over a wide operating range. For each separate actuator with which the system is robustly stabilizable, a robust pole placement is designed by pole clustering. The effectiveness and performances of the method have been illustrated in simulation considering a classical nonlinear benchmark.

Domaines: Automatique / Robotique

Mickael Rodrigues, Didier Theilliol, Dominique Sauter. Design of an active fault tolerant control for nonlinear systems described by a multi-model representation. The 20th IEEE International Symposium on Intelligent Control, ISIC'05 and the 13th Mediterranean Conference on Control and Automation, MED'05, Jun 2005, Limassol, Cyprus. pp.CDROM. ⟨hal-00364800⟩