Fault-Tolerant Controller Synthesis for Piecewise-Affine Systems

被引：9
|
作者：
Nayebpanah, Nastaran [1 ]
Rodrigues, Luis [1 ]
Zhang, Youmin [1 ]
机构：
[1] Concordia Univ, Dept Mech & Ind Engn, Montreal, PQ, Canada
来源：
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9 | 2009年
关键词：
D O I：
10.1109/ACC.2009.5160605
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, fault-tolerant, state feedback controllers are synthesized for piecewise-affine (PWA) systems while minimizing an upper bound of a quadratic cost function. The controllers are designed to deal with partial loss of control authority in the closed loop PWA system. The proposed controller design technique stabilizes and satisfies performance bounds for both the nominal and faulty systems. The new control technique is applied to a PWA model of a wheeled Mobile Robot (WMR) and the results are compared against a Linear Quadratic Regulator (LQR) in simulation.
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页码：222 / 226
页数：5
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