Fault-tolerant fusion-based MPC with sensor recovery for constrained LPV systems

In this paper, we present a robust fault-tolerant control scheme for constrained multisensor linear parameter-varying systems, subject to bounded disturbances, that utilises multiple sensor fusion. The closed-loop scheme consists of a tube model predictive control-based feedback tracking controller and sensor-estimate fusion strategy, which allows for the reintegration of previously faulty sensors. The active fault-tolerant fusion-based mechanism tracks the healthy-faulty transitions of suitable residual variables by means of set separation and precomputed transition times. The sensor-estimate pairings are then reconfigured based on available healthy sensors. Under the proposed scheme, robust preservation of closed-loop system boundedness is guaranteed for a wide range of sensor fault situations. An example is presented to illustrate the performance of the fault-tolerant control strategy.