- High Fidelity models,
- Fault Detection and Isolation (FDI),
- Model approximation/simplification
- Constrained Model Based Predictive Control (MBPC).
All these enabling technologies for fault tolerant control will be addressed and a general view of how are they used will be given.
The strategy is applied to a:
* Well known missile example.
* An high angle of attack aircraft research model.
The presentation given will also contain details of a modelling methodology which enables updating of the model with failure information, and of a methodology for on-line re-linearisation.
Another alternative for modelling and obtaining a linear plant model will be examined. As a result a relatively sophisticated mechanism involving high fidelity models written in the quasi-LPV form will be presented.
In the case of extremely severe failures when the MBPC controller tuned for the nominal plant, but containing an updated internal model reflecting failures and the plant evolutions in the flight envelope, does not meet the performance criteria an improved solution to the fault tolerant scheme is required. Therefore at this stage an optimisation that will provide the tuning parameters -- the controller cost function weights-- which will enable the controller to match, on-line, a reference closed loop will be shown. We will describe as well how the algorithm is applied to provide the MBPC tuning while reconfiguring on-line a missile for major structural impairments.