Sensor-Fault-Tolerant Control for a Class of Linear Parameter Varying Systems With Practical Examples

摘要

This paper deals with the problem of sensor-fault-tolerant control for linear parameter varying (LPV) systems. The LPV systems under consideration are subject to modeling uncertainties and depend on a set of parameters that are assumed to be bounded and available online. Three schemes are proposed to achieve sensor-fault-tolerant control. First, a low-order LPV observer is proposed to simultaneously estimate the unmeasured states and the sensor faults. Second, the estimated sensor faults are used to design a fault decision scheme to detect the sensor faults and to prevent false alarms caused by modeling uncertainties and/or measurement noise. Third, a fault-tolerant control scheme is designed by using the estimated states and the estimated sensor faults to compensate for the effects of sensor faults. To show the effectiveness of the proposed results, the developed schemes are applied to three practical examples consisting of a continuous stirred tank reactor, a single-link robotic arm, and a liquid level process. The simulation results for the first two examples and the experimental results for the liquid level process example indicate that the proposed schemes work well.