Fault estimation and fault tolerant control of uncertain networked predictive control systems under actuator faults

The fault estimation and fault tolerant control problems of networked discrete-time uncertain control systems with stochastic time delay and actuator faults are addressed in this paper. Firstly, a predictive control law that achieves reliable control performance in the presence of communication constraints is introduced. Based on the networked predictive control approach, an active fault-tolerant control strategy for networked discrete-time uncertain control systems with actuator faults is proposed. The strategy consists of three parts: an observer to estimate the state, a predictive controller to generate a fault-tolerant control signal sequence, and a networked delay compensator to actively compensate for the network- induced delay. Under the dual influence of time delay and actuator faults, the fault tolerant control protocol can keep the system stable. Digital simulation results clarify the method.