Sensor switching fault tolerant MPC for constrained LPV systems

We propose a robust fault tolerant control scheme for constrained linear parameter varying systems that compensates for sensor faults using multiple sensor switching. The closed-loop system consists of an estimate based feedback tracking controller and sensor-estimate switching strategy driven by a tube-based model predictive control reference. Fault detection is achieved by monitoring suitable residual variables by means of a set separation criterion, which facilitates the selection of a sensor-estimate pairing based on available healthy sensors. The proposed scheme robustly preserves closed-loop system boundedness for a range of sensor fault situations.