LPV4FTC

Abstract

The objective of the project is to propose an LPV (Linear Parameter Varying) approach to develop integrated fault detection and a diagnostic and fault-tolerance strategy for dynamic systems, and to apply it to an existing mechatronics test bench in Grenoble. The LPV framework is considered the unified target for synthesizing controllers that will be automatically reconfigured in the event of degradation or failure of actuators and/or sensors. This includes modeling, the design of observers and control strategies, and fault planning.

Coordinators

Olivier Sename (GIPSA-lab)

Results

This project has strengthened our collaboration with CRAN (Nancy) and MTA SZTAKI (Budapest). We investigated the test bench’s capabilities for conducting fault experiments and simulating sensor faults to evaluate shock absorber performance. We developed several fault estimation algorithms and proposed an LPV fault-tolerant control strategy for controlling the semi-active suspension subjected to a loss of shock absorber effectiveness.

As part of three jointly supervised master’s projects, we are working on a comprehensive definition of the mechatronic benchmark for the validation of the LPV4FTC project and the integration of fault estimation and fault-tolerant control algorithms. We plan to develop a unique estimation and control approach, and to validate and compare several different approaches.

Notable publications

Juan C. Tudón-Martínez, Sébastien Varrier, Ruben Morales-Menendez, Olivier Sename, "Fault-Tolerant Control in a Semi-Active Automotive Suspension," Revista Iberoamericana de Automática e Informática Industrial (RIAI),
, Volume 13, Issue 1.

Farhat and D. Koenig. Generalized Luenberger observers for fault detection in switched systems using the H-index, 2016 European Control Conference (ECC), Aalborg, Denmark, 2016, 

M.Q. Nguyen, O. Sename, L. Dugard, "An LPV Fault-Tolerant Control for Semi-Active Suspension Based on Fault Estimation," IFACPapersOnLine, Volume 48, Issue 21, 2015.

M.Q. Nguyen, O. Sename, L. Dugard, "A Switched LPV Observer for Actuator Fault Estimation," IFAC-PapersOnLine, Volume 48, Issue 26, 2015.