Tube-based robust model predictive control for fault tolerance

This paper presents a robust, fault tolerant, tube-based nonlinear model predictive controller for systems with additive external disturbances and actuator faults. The design exploits the sliding mode control design embedded in the auxiliary controller to create a lumped disturbance upper bound that represents the worst-case contribution of both faults and disturbances. In this way, the proposed design is shown to maintain robust control …