Fault-tolerant controller synthesis for piecewise-affine systems

Abstract

In this paper, fault-tolerant, state feedback controllers are synthesized for piecewise-affine (PWA) systems while minimizing an upper bound of a quadratic cost function. The controllers are designed to deal with partial loss of control authority in the closed loop PWA system. The proposed controller design technique stabilizes and satisfies performance bounds for both the nominal and faulty systems. The new control technique is applied to a PWA model of a wheeled Mobile Robot (WMR) and the results are compared against a Linear Quadratic Regulator (LQR) in simulation.