Robust Fault Tolerant Control Framework Using Uncertain Takagi-Sugeno Fuzzy Models
This chapter introduces the idea of the robust Takagi-Sugeno (TS) framework, that is obtained as a combination of known results from the robust control area and the TS control area. This framework can be used for fault tolerant control, with the advantage that, depending on the information available about the fault, the proposed framework can give rise to different Fault Tolerant Control (FTC) strategies: passive FTC, active FTC without controller reconfiguration and active FTC with controller reconfiguration. Finally, the proposed framework is illustrated by an application to a mobile robot.
This work has been funded by the Spanish MINECO through the project CYCYT SHERECS (ref. DPI2011-26243), by the European Commission through contract i-Sense (ref. FP7-ICT-2009-6-270428) and by UPC through the grant FPI-UPC E-01104 and by AGAUR through the contract FI-DGR 2013 (ref. 2013FIB00218).
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