A predictive fault tolerant control method for qLPV systems subject to input faults and constraints

In this paper, we investigate the use of Model Predictive Control (MPC) applications for quasi-Linear Parameter Varying (qLPV) systems subject to faults along input channels. We propose a Fault Tolerant (FTC) mechanism based on robust state-feedback MPC synthesis, considering polytopic inclusions. order alleviate numerical burden min-max procedure, small prediction horizons, in such way that solution becomes viable real-time systems. The FTC system is able tolerate time-varying saturation actuator, which may happen due malfunctions . Recursive feasibility and poly-quadratic stability guarantees are ensured through synthesis adequate terminal ingredients. Accordingly, present catalogue three different LMI remedies, considering: (a) parameter-independent ingredients, (b) parameter-dependent terms (c) maps take into account bounded rates parameter variation An autonomous driving car example used illustrate performances proposed technique, compared other MPCs from literature. method ensure good performances, obtained with reduced computational demand.