Robust Model Predictive Fault-Tolerant Control for Time-delay Uncertain Systems

For a class of time-delay discrete systems with constraints, actuator faults and polytopic-type uncertainties, the problem of robust fault-tolerant control is studied in this paper. Firstly, a new state space model with output error is introduced for reference trajectory tracking control, which provides more scope for controller designs and improves control effect. Then based on the predictive control theorem, a min-max robust model predictive control (RMPC) algorithm is proposed, which considers time delay and the fault model. Using linear matrix inequality (LMI) technology, the min-max optimization problem is transformed into a minimization problem. Finally, the asymptotic stability of close-looped system is proved and the algorithm comparison experimental results on the quadrotor semi-physical simulation platform validate the feasibility and effectiveness of the proposed control scheme.