Abstract
The paper proposes a novel fault-tolerant tracking control method based on robust observer for constrained dynamic systems. Accordingly, it is considered that the system may be occupied by the actuator and sensor faults as well as the external disturbances, simultaneously. Moreover, it is assumed that there is already employed nominal predictive controller for the fault-free and disturbance-free reference system. Thus, the additional fault-tolerant tracking controller based on robust observer is proposed, while it is not necessary to change the nominal controller. Additionally, the stability of the described observer and controller is guaranteed by using \(H_\infty \) approach. Finally, the laboratory Two-Tank system is used to confirm the correctness and performance of the proposed scheme. Additionally, tanks in the proposed system are physically connected together, while each tank has its own water pump.
The work was supported by the National Science Centre, Poland under Grant: UMO-2017/27/B/ST7/00620.
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Kukurowski, N., Mrugalski, M., Witczak, M. (2023). A Predictive Fault-Tolerant Tracking Control for Constrained Dynamic Systems. In: Kowalczuk, Z. (eds) Intelligent and Safe Computer Systems in Control and Diagnostics. DPS 2022. Lecture Notes in Networks and Systems, vol 545. Springer, Cham. https://doi.org/10.1007/978-3-031-16159-9_33
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