Robust Estimator-Based Dual-Mode Predictive Fault-Tolerant Control for Constrained Linear Parameter Varying Systems

This article presents a novel robust estimator-based dual-mode predictive fault-tolerant control (FTC) design scheme for linear parameter varying systems with state/input constraints. The overall FTC is composed of an unconstrained robust fixed FTC component and a constrained robust predictive FTC component. The former is determined by solving an offline integrated design of generalized unknown input observer and fault compensation control law. It is mainly used to compensate the influence of faults and stabilize the tracking error system. The robust predictive FTC is formulated based on the tightened invariant set constraint and quadratic programming. It is used to guarantee the recursive feasibility of the overall FTC under constraints, so its optimal value should be determined by solving the programming problem in real time. An algorithm is also provided to summarize all the involved steps of offline design and online implementation. Finally, the effectiveness of the proposed results is verified in a practical dc-dc buck converter.