A Virtual Actuator Approach for Fault Tolerant Control of Switching LPV Systems

Abstract In this paper, virtual actuators are proposed as a Fault Tolerant Control (FTC) strategy for switching Linear Parameter Varying (LPV) systems subject to actuator faults. The overall solution relies on the addition of a virtual actuator block that keeps the stability and some desired performances without the need of retuning the nominal controller. It is shown that the design can be performed using polytopic techniques and Linear Matrix Inequalities (LMIs). Simulation results obtained with a four-wheeled omnidirectional mobile robot example are used to demonstrate the effectiveness of the proposed approach.