Fault Tolerant Control of RLV in the

Descent Phase using MPC

PAPER ID:163

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 CONTENTS
●Introduction
●Objective

●Longitudinal Dynamics of RLV

●Model Predictive Controller

●Unconstrained MPC

●Constrained MPC

●Simulation Results

●Conclusion

●References

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 Introduction
● Fault Tolerant Control

● Model Predictive Control

● MPC in the descent phase of RLV

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 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.

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 Longitudinal Dynamics of RLV
● Plant dynamics(without actuator)

……………..(1)

*
 Contd…
● Plant dynamics with second order actuator

….…(2)

…(3)

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 Model Predictive Contoller

Fig. 1 The Basic Block Diagram of MPC

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 Contd….

Fig.2 The MPC strategy

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 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.

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 Plant Model
● Consider the state space model

………..(4)

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 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)

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 Contd…
The predicted output variables in the prediction
●

horizon,

…… (6)

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

……..(7)
●Let

……...(8)

● The cost function is defined as

………..(9)

* …….(10)
 Contd..

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

………(12)

………(13)
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 Contd..
Where,

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 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
Fig.3 The block diagram for controller with no constraints


Controll
er

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 Constrained MPC
● Constraints on control input:

● Constraints on output variable:

● Constraints on state vector:

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 Contd..

……………..(15)

……………..(16)

……………..(17)

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 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

….(21)
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 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
Fig.4 The block diagram for controller with constraints


Controll
er
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 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.

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 Predictive Control
● State Augmentation

……(22)

..……(23)

…..…(24)

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 Case 1: Constrained without actuator fault
● The constraints are defined for inputs and states:

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 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,

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 Contd….

Figure 5 Response of MPC for system with actuator dynamics

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 Contd….

Figure 6 Control input of MPC for system with actuator

dynamics

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 Contd..

Fig. 7 Nominal long period simulation of the MPC for system with
actuator dynamics

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 Contd..

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

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 Contd..

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

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 Contd..

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

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 Contd..

Fig.11 Longperiod response considering actuator fault

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 Contd..

Fig.12 Control input applied to the system in the presence of actuator

fault

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 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.

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 References
1] M.M Kale,A.J Chipperfield, ”Stabilized MPC formulations for Robust Reconfigurable
Flight Control”, Control Engineering Practice, vol.13,N o.6,pp.771-788.

2] Fabio A. de Almeida and Dirk Leibling, “ Fault-Tolerant Model Predictive Control with
Flight Test Results on ATTAS” AIAA Guidance, Navigation, and Control Conference10 - 13
August 2009, Chicago, Illinois.

3] Gustavo Lima Carneiro, Roberto Kawakami, ”Model predictive control of an aircraft with
actuator failure in a terrain following task”,3rd CTA-DLR workshop on Data Analysis &
Flight Control,September 2009,

4] Maciejowski,Jones J.M,”MPC Fault Tolerant Flight ControlCase Study:Flight

1862”,Proceedings of the IFAC Safeprocess,Washington D.C,USA,pp119-124,2003.

5] Dr.Piero Mitotto, Robert .C.Lepone, ”Design of a model predictive control system for a
reusable launch vehicle”, AIAA Guidance, Navigation & Control Conference, August
2003,Austin,Texas .

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 6] ] Luping Wang, “Model Predictive Control System Design and Implementation Using
MATLAB”, Springer-Verlag, London Limited,2009.

7] Murali Gopinathan, Jovan D Boskovic, Raman K. Mehra, and Constantino Rago,”A

multiple model predictive scheme for fault-tolerant flight control design” In Proceedings of
the 37th IEEE Conference on Decision & Control. IEEE, December1998.

8] D.W Clark, C.Mohtadi, ” Generalized predictive control part1 & 2”Automatica, vol.23,
1987,pp.137-160

9] D.W Clarke,C.Mohtadi, ”Properties of generalized predictive control”, Automatica,

vol.23, 987,pp.137-160.

10] Camacho, Eduardo F, Carlos Bordons, ”Model Predictive Control”, Springer-verlag,

London,England 1999.

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 THANK YOU