Fault-Tolerant Robust Model-Predictive Control of Uncertain Time-Delay Systems Subject to Disturbances
Abstract
Time delays, model uncertainties, faults, and disturbances are frequently the main causes of performance degradation and instability in industrial process control. This article presents a fault-tolerant robust model-predictive control design for processes that involve the above effects and process constraints. The uncertainties are modeled into a polytopic affine form based on variations in the system's parameters. A new model based on augmentation of the state variables and tracking error is used that provides increased degrees of freedom for the control design and guarantees tracking performance. A parameter-dependent Lyapunov-Krasovskii functional is used to design a state-feedback control that reduces the conservatism of the conventional approach and ensures robust stability and tracking performance of the closed-loop system. At each sampling instant, a control action is computed by solving an online constrained optimization problem that minimizes the upper bound of the “worst-case” performance index. Finally, the proposed framework is employed for the fault-tolerant control of a continuous stirred tank reactor to demonstrate its effectiveness in mitigating actuator faults and tracking the desired set point.
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Other robust MPC schemes including min-max optimization and sliding mode techniques improve robustness without significant increase of complexities.
“Other robust MPC schemes, including min-max optimization [25], [26] and sliding mode techniques [27], [28], are also employed to improve robustness without significant increase of complexities.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [26]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
- Authors
- Khan, O., Mustafa, G., Khan, A. Q., Abid, M., & Ali, M.
- Affiliations
- Pakistan Institute of Engineering and Applied Sciences (PK)
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2021-11
- Volume
- 68
- Issue
- 11
- Pages
- 11400-11408
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W3175493695
- Cited by
- 41
- References
- 26
- Citations by year
- 2026: 6 · 2025: 7 · 2024: 12 · 2023: 6 · 2022: 7 · 2021: 3
- FWCI
- 1.98
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- IEEE Transactions on Industrial Electronics (publishedVersion)
- Funders
- Higher Education Commission, Pakistan
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Fault Detection and Control Systems
- Keywords
- fault-tolerant control, robust model predictive control, time-delay systems, model uncertainty, disturbance, Lyapunov-Krasovskii functional, state feedback control, tracking performance, actuator faults, continuous stirred tank reactor, constrained optimization
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