Passive Fault Tolerant Control of Motorboat System

A hybrid passive control strategy is developed for a class of hybrid systems modeled by Mixed Logical Dynamical (MLD) approach. It allows to model different operating modes of the system and constraints. We proposed using the MPC for control system .The passive controller is used to take in account the actuator failure and the optimization problem is transformed into a mixed-integer quadratic programming problem (MIQP). The considering fault-tolerance capabilities are developed and discussed. The proposed method is illustrated by a motorboat system.