2011
IMAACA 2011 Proceeding
Passive Fault Tolerant Control: A Bond Graph Approach
Authors: Matías Nacusse, Sergio Junco
Abstract
The Passive Fault Tolerant Control (PFTC) approach defines a unique, robust control law able to achieve the control objectives even in the presence of a fault. This work addresses the PFTC problem in the Bond Graph (BG) domain. The control law is obtained using an energy and power shaping method in this domain. At its first step, the method proposes a so called Target Bond Graph (TBG) that expresses the desired closed-loop behaviour, i.e., the control system specifications, in terms of a desired closed-loop storage function and a power dissipation function. The control law is obtained in a subsequent step via BG-prototyping. In order to make it fault-tolerant, this control law is further robustified by using a residual signal obtained from a modified version of the diagnostic bond graph (mDBG) which is created from the TBG. This results in a closed- loop behavior under faults that it asymptotically equivalent to the faultless case.
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