Closed-loop Subspace Predictive Control for Fault Tolerant MPC Design

Abstract

Subspace predictive control (SPC) is recently seen in the literature for joint system identification and control design. This combination enables automatically tuning the parameters in conventional model predictive control (MPC); and therefore provides a solution to the problem of fault tolerant MPC design. The existing SPCs either deal with open-loop data or depend on the information of the controller in a closed loop. In this paper we introduce a new closed-loop SPC method, which is independent of any controller information. Both the analytic solution to the unconstrained case and the quadratic programming problem for the constrained case are formulated. A recursive solution for updating the SPC control law is proposed. A fault tolerant MPC scheme is then developed based on the recursive algorithm, whose effectiveness is demonstrated on tolerating a fault in a steer-by-wire actuator.

Adaptive subspace-based prediction of T1DM glycemia

“…Indeed, besides being of interest on its own right, the proposed approach to online prediction can be included in a predictive control framework [25] to the purpose of glycemia regulation. Along this line, introducing the future control inputs u k , the predictors can be re-written as:…”

Multi-step-ahead multivariate predictors: A comparative analysis

“…On the contrary, for bigger τ , proj-1 breaks down exhibiting very poor performance, whereas pbsid proves to be remarkably robust. Besides being of interest on its own, the quest for an optimal multi-step-ahead predictor is of importance in many control applications, being used in the so called receding horizon type of control strategies [17], [18] and in the estimation of the extended observability matrix in subspace identification methods [19], [20].…”

Effective fault-tolerant control paradigm for path tracking in autonomous vehicles

“…A growing body of research in this area has resulted in a number of FD and FTC schemes for ground vehicles (Arogeti, Wang, Low, & Yu, 2008;Chen, Song, & Li, 2011;Dong, Verhaegen, & Holweg, 2008;Fekih & Seelem, 2012;Herpin, Fekih, Golconda, & Lakhotia, 2007;Laureiro, Benmoussa, Touati, Merzouki, & OuldBouamama, 2014;Morteza & Fekih, 2014a, 2014bTabbache, Benbouzid, Kheloui, & Bourgeot, 2011;Wang & Wang, 2013;Yang, Cocquempot, & Jiang, 2008). A passive actuator FTC was proposed for Four-Wheel Independently Actuated electric ground vehicle in Wang and Wang (2013).…”