Fault-Tolerant Control of Gas-Lifted Oil Well

Decomposing the optimization of a gas lifted oil well network

Low pressure oil wells can be made to flow by the injection of gas into the well. The resulting flow from the well increases discontinuously with the amount of gas injected. A common way to model this is by introducing integer variables which results in a MINLP formulation. Such a problem can be solved efficiently by a specialised Branch & Bound code. However for more than about 200 wells a com...

Fault-Tolerant Control of a Nonlinear Process with Input Constraints

A Fault-Tolerant Control (FTC) methodology has been presented for nonlinear processes being imposed by control input constraints. The proposed methodology uses a combination of Feedback Linearization and Model Predictive Control (FLMPC) schemes. The resulting constraints in the transformed process will be dependent on the actual evolving states, making their incorporation in the de...

Well-conditioned configurations of fault-tolerant manipulators

Fault-tolerant motion of redundant manipulators can be obtained by joint velocity reconfiguration. For faulttolerant manipulators, it is beneficial to determine the configurations that can tolerate the locked-joint failures with a minimum relative joint velocity jump. This is because the manipulator can rapidly reconfigure itself to tolerate the fault. This paper uses the properties of conditio...

Fault Tolerant Feedback Control

An architecture for fault tolerant feedback controllers based on the Youla parameterization is suggested. It is shown that the Youla parameterization will give a residual vector directly in connection with the fault diagnosis part of the fault tolerant feedback controller. It turns out that there is a separation between the feedback controller and the fault tolerant part. The closed loop feedba...

Robust Fault-Tolerant Control