Robust Constrained Predictive Fault-Tolerant Control With Generalized Input Parameterization and Event-Triggered Regulation: Design and Experimental Results

This article proposes some new improvements to the traditional constrained predictive fault-tolerant control (FTC) method by enlarging the maximal fault-tolerant admissible region and reducing the online computational complexity. In general, the generalized parameterization of predictive input and event-triggered predictive regulation are integrated into a framework of fault compensation-based dual-mode tube predictive FTC. This predictive FTC scheme has three notable characteristics: 1) The dual-mode FTC consisting of fixed-mode fault compensation and freely predictive adjustments allows most of the calculations to be predetermined offline, while only a simple optimization problem requires to be solved online; 2) the fault-tolerant ability is enhanced by utilizing generalized parameterization of predictive inputs to enlarge the region of attraction of a faulty system; 3) the real-time computational effort of predictive FTC is further reduced by constructing an event-triggered condition to avoid unnecessary online predictive optimization. A case study of a practical synchronous dc-dc Buck converter is given to validate the effectiveness of the proposed predictive FTC method.