Fault tolerant cooperative control: A distributed model predictive control approach

In this paper, a distributed networked control system architecture based on unsupervised and independent Model Predictive Control/Robust Adaptive Fast Fault Estimation (MPC/RAFFE) schemes is proposed. In this distributed framework, local MPCs algorithms might exchange and require information from other sub-controllers via the communication network to achieve their task in a cooperative way. The proposed distributed control tied with diagnosis tasks yields a suitable architecture for active fault tolerant control in large and interconnected systems under actuator faults. A numerical test simulation is given to validate the proposed distributed MPC/RAFFE architecture.