Fault Tolerant Control of RLV in the

Descent Phase using MPC

CONTENTS
● Introduction
● Objective
● Longitudinal Dynamics of RLV
● Model Predictive Controller
● Unconstrained MPC
● Constrained MPC
● Simulation Results
● Conclusion
● References
Introduction
● Fault Tolerant Control

● Model Predictive Control

● MPC in the descent phase of RLV

Objective
● To design Model Predictive controller in the
descent phase of RLV.

● To track a predefined trajectory ,in the presence

constraints on input and output signals.

● To obtain satisfactory performance in the

presence of actuator faults.
Longitudinal Dynamics of RLV
● Plant dynamics(without actuator)

……………..(1)
Contd…
● Plant dynamics with second order actuator

….…(2)
Model Predictive Contoller

Fig. 1 The Basic Block Diagram of MPC

Contd….
Contd….
● The future outputs for a determined horizon P, called
prediction horizon are predicted using process model.

● The set of future control signals is calculated by optimizing

a determined criterion in order to keep the process as close
as possible to the reference trajectory.

● The resulting control signal is applied to the process.

Selection of Design Parameters
● Prediction Horizon, P
Increasing prediction horizon results in less
aggressive control action
● Control Horizon,M
Increasing control horizon makes the controller
more aggressive and increases computational
effort.
● Weighting matrices Q and R
Diagonal matrices with largest elements
corresponding to most important variables.
Plant Model

● Consider the state space model

………..(4)
Predictions in MPC
● At an instant ‘k’, the state variable vector is
available through measurement.
● Then future state variable are calculated using the
set of future control inputs.

. .(5)
Contd…
● The predicted output variables in the prediction
horizon,

…… (6)
Unconstrained MPC
● The output Y(k) has the form

……..(7)
● Let

……...(8)

● The cost function is defined as

………..(9)
 Contd..

……(11)
where
and
● To find optimal ,the gradient of set
to zero.
● The optimal set of future input is,

………(12)

………(13)
Contd..
Where,
 Contd..
● Controller without constraints

z(k
R(k  ∆u(k u(k)
)
) (k) KMPC ) z/(z-1)I Plant
+ _
_
y(k)=x(k
)
u(k-1
 ) z-1
I


Controll
er
Constrained MPC
● Constraints on control input:

● Constraints on output variable:

● Constraints on state vector:

Contd..

……………..(15)

……………..(16)

……………..(17)
Contd..
Then (15) can be written as

……....(18)
Using (7) to write (16) as

…..(19)

…..(20)

The inequalities(15) ,(16) and (17) can be written as

 Contd..
● Controller with constraints

z(k
R(k ∆u(k u(k)
Optimiz )
) ) z/(z-1)I Plant
er

y(k
)
u(k-1
 ) z-1
I


Controll
er
Fig.4 The block diagram for controller with constraints
Predictive Control
● State Augmentation

……(22)

..……(23)

…..…(24)
Case 1: Constrained without actuator fault
● The constraints are defined for inputs and states:
Case 2: Constrained with actuator fault
● The RLV fault considered is : actuator faliure.
● It can be handled using MPC controller by
changing the input constraints.

The above constraint can be changed to

Given as,
Contd….
Contd….
Contd..
Contd..

Fig.8 Control input applied to the system under nominal conditions

Contd..

Fig.9 Response of MPC for system with actuator dynamics in the presence of
constraints
Contd..

Fig. 10 Control input of the system with actuator dynamics in the presence of constraints
Contd..

Fig.11 Longperiod response considering actuator fault

Contd..

Fig.12 Control input applied to the system in the presence of actuator fault
Conclusion
● A survey about existing methods for Fault
Tolerant Control is done .
● Longitudinal Dynamics of RLV has been derived.
● Short Period analysis of RLV using MPC
controller for (1)unconstrained and
(2)constrained case has been carried out.
● Long period analysis of RLV using MPC controller
for (1)unconstrained and
● (2)constrained case has been done.
● The performance of the system in the presence of
actuator failure simulated.
References
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