Laguerre-based robust dual-mode predictive fault tolerant tracking control for a class of constrained linear parameter-varying systems

In this paper, a robust dual-mode MPC-based fault tolerant control (FTC) problem is considered for a class of constrained LPV systems. Some relationships between fault tolerance region and different performance regions are firstly explained based on maximal controlled invariant set concept. Then, a Laguerre function method is introduced to parameterize the online d.o.f, of FTC such that the fault tolerance region can be enlarged and constraint satisfaction of constrained optimization can be still guaranteed under the appearance of fault. An algorithm is also given to summarize all involved design and implementation steps. Finally, the effectiveness of proposed results is validated by a benchmark study of double integrator system.