Fault tolerant control of multi-rotor unmanned aerial vehicles using sliding mode based schemes

This thesis investigates fault-tolerant control (FTC) for the specific application of small multirotor unmanned aerial vehicles (Unmanned Aerial Vehicle (UAV)s). The fault-tolerant controllers in this thesis are based on the combination of sliding mode control with control allocation where the control signals are distributed based on motors' health level. This alleviates the need to reconfigure the overall structure of the controllers. The thesis considered both the over actuated (sufficient redundancy) and under-actuated UAVs. Three multirotor UAVs have been considered in this thesis which includes a quadrotor (4 rotors), an Octocopter (8 rotors) and a spherical UAV. The non-linear mathematical models for each of the UAVs are presented. One of the main contributions of this thesis is the hardware implementation of the sliding mode Fault Tolerant Control (FTC) scheme on an open-source autopilot microcontroller called Pixhawk for a quadrotor UAV. The controller was developed in Simulink and implemented on the microcontroller using the Matlab/Simulink support packages. A gimbal- based test rig was developed and built to offer a safe test bed for testing control designs. Actual flight tests were done which showed sound responses during fault-free and faulty scenarios. This work represents one of successful implementation work of sliding mode FTC in the literature. Another key contribution of this thesis is the development of the mathematical model of a unique spherical UAV with highly redundant control inputs. The use of novel 8 flaps and 2 rotors configuration of the spherical UAV considered in this thesis provides a unique fault tolerant capability, especially when combined with the sliding mode-based FTC scheme. A key development in the later chapters of the thesis considers fault-tolerant control strategy when no redundancy is available. Unlike many works which consider FTC on quadrotors in the literature (which can only handle faults), the proposed schemes in the later chapters also include cases when failures also occur converting the system to an under actuated system. In one chapter, a bespoke Linear Parameter Varying (LPV) based controller is developed for a reduced attitude dynamics system by exploiting non-standard equation of motions which relates to position acceleration and load factor dynamics. This is unique as compared to the typical Euler angle control (roll, pitch and yaw angle control). In the last chapter, a fault-tolerant control scheme which can handle both the over and under actuated system is presented. The scheme considers an octocopter and can be used in fault-free, faulty and failure conditions up to two remaining motors. The scheme exploits the differential flatness property, another unique property of multirotor UAVs. This allows both inner loop and outer loop controller to be designed using sliding mode (as opposed to many sliding mode FTC in the literature, which only considers sliding mode for the inner loop control)

Interpolated reference model based fault tolerant sliding mode control for an octorotor

This is the final version. Available on open access from Wiley via the DOI in this recordData availability statement: The data that support the findings of this study are available from the corresponding author upon reasonable request.In this paper, a quasi-linear parameter varying sliding mode control allocation law is proposed for the fault tolerant control of an octorotor. In the event of rotor faults/failures an allocation law redistributes the control effort among the remaining healthy rotors. The sliding mode control law is designed to guarantee asymptotic tracking of a reference model which is tuned on-line, through an interpolated feedback gain, to ensure that the control signals remain within their saturation limits. A method for designing the parameterised feedback gain is proposed which is shown to maximise a defined stability criteria whilst preventing undesirable performance characteristics in the reference model. The proposed scheme is tested on a non-linear octorotor model in the presence of severe rotor failures and uncertainty/disturbances

Fault Tolerant Flight Control of Unmanned Aerial Vehicles

Safety, reliability and acceptable level of performance of dynamic control systems are the major keys in all control systems especially in safety-critical control systems. A controller should be capable of handling noises and uncertainties imposed to the controlled process. A fault-tolerant controller should be able to control a system with guaranteed stability and good or acceptable performance not only in normal operation conditions but also in the presence of partial faults or total failures that can be occurred in the components of the system. When a fault occurs in a system, it suddenly starts to behave in an unanticipated manner. Thereby, a fault-tolerant controller should be designed for being able to handle the fault and guarantee system stability and acceptable performance in the presence of faults/damages. This shows the importance and necessity of Fault-Tolerant Control (FTC) to safety-critical and even nowadays for some new and non-safety-critical systems. During recent years, Unmanned Aerial Vehicles (UAVs) have proved to play a significant role in military and civil applications. The success of UAVs in different missions guarantees the growing number of UAVs to be considerable in future. Reliability of UAVs and their components against faults and failures is one of the most important objectives for safety-critical systems including manned airplanes and UAVs. The reliability importance of UAVs is implied in the acknowledgement of the Office of the Secretary of Defense in the UAV Roadmap 2005-2030 by stating that, ”Improving UA [unmanned aircraft] reliability is the single most immediate and long-reaching need to ensure their success”. This statement gives a wide future scenery of safety, reliability and Fault-Tolerant Flight Control (FTFC) systems of UAVs. The main objective of this thesis is to investigate and compare some aspects of fault tolerant flight control techniques such as performance, robustness and capability of handling the faults and failures during the flight of UAVs. Several control techniques have been developed and tested on two main platforms at Concordia University for fault-tolerant control techniques development, implementation and flight test purposes: quadrotor and fixedwing UAVs. The FTC techniques developed are: Gain-Scheduled Proportional-Integral-Derivative (GS-PID), Control Allocation and Re-allocation (CA/RA), Model Reference Adaptive Control (MRAC), and finally the Linear Parameter Varying (LPV) control as an alternative and theoretically more comprehensive gain scheduling based control technique. The LPV technique is used to control the quadrotor helicopter for fault-free conditions. Also a GS-PID controller is used as a fault-tolerant controller and implemented on a fixedwing UAV in the presence of a stuck rudder failure case

Advances in gain-scheduling and fault tolerant control techniques

This thesis presents some contributions to the state-of-the-art of the fields of gain-scheduling and fault tolerant control (FTC). In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers. In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC). Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i de Takagi-Sugeno (TS). Es demostra que els mètodes per a la generació automàtica de models mitjançant encastament no lineal i mitjançant no linealitat sectorial, desenvolupats per una classe de sistemes, es poden estendre fàcilment per fer-los servir amb l'altra classe. Es proposen dues mesures basades en les nocions de sobrefitació i d'estimació de la regió d'atracció, per tal de comparar diferents models i triar quin d'ells pot ser considerat el millor. Després, es considera el problema de dissenyar controladors per realimentació d'estat per a sistemes LPV, proporcionant dues contribucions principals. En primer lloc, fent servir una descripció amb doble capa politòpica que té en compte tant la variabilitat deguda al vector de paràmetres variants i la deguda a la incertesa, es dissenyen controladors LPV robustos que puguin garantir unes especificacions desitjades quan s'apliquen a sistemes LPV incerts. En segon lloc, s'explora la idea de dissenyar el controlador de tal manera que les especificacions requerides siguin programades pels paràmetres variants. Això proporciona una manera elegant de variar en línia el comportament del sistema en llaç tancat. En tots dos casos, el problema es redueix a trobar una solució d'un nombre finit de desigualtats matricials lineals (LMIs), que es poden resoldre fent servir algorismes numèrics disponibles i molt eficients. En l'àrea del control tolerant a fallades, primerament la tesi mostra que la descripció amb doble capa politòpica abans esmentada es pot utilitzar per fer FTC, de tal manera que, en funció de la quantitat d'informació disponible, s'obtenen diferents estratègies (passiva, activa i híbrida). Després, es desenvolupa una estratègia de FTC per a sistemes LPV que fa servir un model de referència reconfigurat combinat amb la tècnica d'actuadors virtuals. Es mostra que mitjançant la inclusió de les saturacions en les equacions del model de referència, és possible dissenyar un sistema de control tolerant a fallades que resintonitza automàticament els estats de referència cada vegada que el sistema es veu afectat per les no linealitats de la saturació en els actuadors. D'aquesta manera s'incorpora una degradació elegant de les especificacions en presència de saturacions d'actuadors. Finalment, es considera el problema de FTC per sistemes LPV inestables afectats per saturacions d'actuadors. En aquest cas, es porta a terme el disseny de l'actuador virtual de tal manera que la convergència a zero de la trajectòria d'estat està assegurada tot i les saturacions i l'aparició de fallades. A més, es mostra que és possible obtenir garanties sobre el retard tolerat entre l'aparició d'una fallada i el seu aïllament, i que el controlador nominal es pot dissenyar maximitzant el retard tolerat

Reliable and Safe Motion Control of Unmanned Vehicles

Unmanned vehicles (UVs) are playing an increasingly significant role in modern daily life. In the past decades, numerous commercial, scientific, and military communities across the world are developing fully autonomous UVs for a variety of applications, such as environmental monitoring and surveillance, post-disaster search and rescue, border patrol, natural resources exploration, and experimental platforms for new technologies verification. The excessive opportunities and threats that come along with these diverse applications have created a niche demand for UVs to extend their capabilities to perform more sophisticated and hazardous missions with greater autonomy, lower costs of development and operation, improved personnel safety and security, extended operational range (reliability) and precision, as well as increased flexibility in sophisticated environments including so-called dirty, dull, harsh, and dangerous missions. In order to successfully and effectively execute missions and meet their corresponding performance criteria and overcome these ever-increasing challenges, greater autonomy together with more advanced reliable and safe motion control systems are required to offer the critical technologies for ensuring intelligent, safe, reliable, and efficient control of UVs in the presence of disturbances, actuator saturation, and even actuator faults, especially for practical applications. This thesis concentrates on the development of different reliable and safe motion control algorithms/strategies applicable to UVs, in particular, unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A number of contributions pertaining to the fault detection and diagnosis (FDD), fault-tolerant control (FTC), disturbance estimation and compensation, and actuator saturation avoidance have been made in this thesis. In addition to the control problems, this thesis also presents several guidance-related contributions, including adaptive observer-based line-of-sight (LOS) guidance law, time-varying lookahead distance scheme, piecewise path switching criterion for guiding a single UV, as well as a proportional-integral (PI) type of leader-follower formation guidance strategy for a group of UVs

Automatic Flight Control Systems

The history of flight control is inseparably linked to the history of aviation itself. Since the early days, the concept of automatic flight control systems has evolved from mechanical control systems to highly advanced automatic fly-by-wire flight control systems which can be found nowadays in military jets and civil airliners. Even today, many research efforts are made for the further development of these flight control systems in various aspects. Recent new developments in this field focus on a wealth of different aspects. This book focuses on a selection of key research areas, such as inertial navigation, control of unmanned aircraft and helicopters, trajectory control of an unmanned space re-entry vehicle, aeroservoelastic control, adaptive flight control, and fault tolerant flight control. This book consists of two major sections. The first section focuses on a literature review and some recent theoretical developments in flight control systems. The second section discusses some concepts of adaptive and fault-tolerant flight control systems. Each technique discussed in this book is illustrated by a relevant example

Set-based state estimation and fault diagnosis using constrained zonotopes and applications

This doctoral thesis develops new methods for set-based state estimation and active fault diagnosis (AFD) of (i) nonlinear discrete-time systems, (ii) discrete-time nonlinear systems whose trajectories satisfy nonlinear equality constraints (called invariants), (iii) linear descriptor systems, and (iv) joint state and parameter estimation of nonlinear descriptor systems. Set-based estimation aims to compute tight enclosures of the possible system states in each time step subject to unknown-but-bounded uncertainties. To address this issue, the present doctoral thesis proposes new methods for efficiently propagating constrained zonotopes (CZs) through nonlinear mappings. Besides, this thesis improves the standard prediction-update framework for systems with invariants using new algorithms for refining CZs based on nonlinear constraints. In addition, this thesis introduces a new approach for set-based AFD of a class of nonlinear discrete-time systems. An affine parametrization of the reachable sets is obtained for the design of an optimal input for set-based AFD. In addition, this thesis presents new methods based on CZs for set-valued state estimation and AFD of linear descriptor systems. Linear static constraints on the state variables can be directly incorporated into CZs. Moreover, this thesis proposes a new representation for unbounded sets based on zonotopes, which allows to develop methods for state estimation and AFD also of unstable linear descriptor systems, without the knowledge of an enclosure of all the trajectories of the system. This thesis also develops a new method for set-based joint state and parameter estimation of nonlinear descriptor systems using CZs in a unified framework. Lastly, this manuscript applies the proposed set-based state estimation and AFD methods using CZs to unmanned aerial vehicles, water distribution networks, and a lithium-ion cell.Comment: My PhD Thesis from Federal University of Minas Gerais, Brazil. Most of the research work has already been published in DOIs 10.1109/CDC.2018.8618678, 10.23919/ECC.2018.8550353, 10.1016/j.automatica.2019.108614, 10.1016/j.ifacol.2020.12.2484, 10.1016/j.ifacol.2021.08.308, 10.1016/j.automatica.2021.109638, 10.1109/TCST.2021.3130534, 10.1016/j.automatica.2022.11042

Detection and Isolation of Faults and Cyberattacks in Nonlinear Cyber-Physical Systems using Neural Networks

The theory of Cyber-physical systems (CPSs) has applications in critical infrastructures such as smart grids, manufacturing systems, transportation systems, and autonomous systems such as Unmanned Aerial Vehicles(UAVs). In the CPS, there is a coordination between communication, computation, and control. The communication link in CPS can be subjected to malicious cyberattacks. On the other hand, the physical system in CPS can be faced with different faults such as sensor, actuator, and component faults. Therefore, two significant and challenging problems in CPS can be the detection of faults and cyberattacks. These two threats are intrinsically distinctive and need different strategies to deal with when they occur. This research mainly focuses on providing a methodology to detect and isolate faults and cyberattacks. This work considers false data injection and replay attacks as security threats. Two different adaptive neural network-based detection methods are proposed in this thesis. These adaptive neural networks are able to detect, isolate, and estimate false data injection, and replay attacks. Another contribution of this thesis is to provide a scheme for isolating faults and cyberattacks (false data injection and replay attacks) by using virtual sensors on the plant side, which makes the simultaneous detection of faults and false data injection cyberattacks possible. A nonlinear model of a quadrotor is considered the case study, and the performance of the neural network-based schemes is evaluated through various numerical simulation scenarios

Contribution to reliable control of dynamic systems

This thesis presents sorne contributions to the field of Health-Aware Control (HAC) of dynamic systems. In the first part of this thesis, a review of the concepts and methodologies related to reliability versus degradation and fault tolerant control versus health-aware control is presented. Firstly, in an attempt to unify concepts, an overview of HAC, degradation, and reliability modeling including some of the most relevant theoretical and applied contributions is given. Moreover, reliability modeling is formalized and exemplified using the structure function, Bayesian networks (BNs) and Dynamic Bayesian networks (DBNs) as modeling tools in reliability analysis. In addition, some Reliability lmportance Measures (RIMs) are presented. In particular, this thesis develops BNs models for overall system reliability analysis through the use of Bayesian inference techniques. Bayesian networks are powerful tools in system reliability assessment due to their flexibility in modeling the reliability structure of complex systems. For the HAC scheme implementation, this thesis presents and discusses the integration of actuators health information by means of RIMs and degradation in Model Predictive Control (MPC) and Linear Quadratic Regulator algorithms. In the proposed strategies, the cost function parameters are tuned using RIMs. The methodology is able to avoid the occurrence of catastrophic and incipient faults by monitoring the overall system reliability. The proposed HAC strategies are applied to a Drinking Water Network (DWN) and a multirotor UAV system. Moreover, a third approach, which uses MPC and restricts the degradation of the system components is applied to a twin rotor system. Finally, this thesis presents and discusses two reliability interpretations. These interpretations, namely instantaneous and expected, differ in the manner how reliability is evaluated and how its evolution along time is considered. This comparison is made within a HAC framework and studies the system reliability under both approaches.Aquesta tesi presenta algunes contribucions al camp del control basat en la salut dels components "Health-Aware Control" (HAC) de sistemes dinàmics. A la primera part d'aquesta tesi, es presenta una revisió dels conceptes i metodologies relacionats amb la fiabilitat versus degradació, el control tolerant a fallades versus el HAC. En primer lloc, i per unificar els conceptes, s'introdueixen els conceptes de degradació i fiabilitat, models de fiabilitat i de HAC incloent algunes de les contribucions teòriques i aplicades més rellevants. La tesi, a més, el modelatge de la fiabilitat es formalitza i exemplifica utilitzant la funció d'estructura del sistema, xarxes bayesianes (BN) i xarxes bayesianes dinamiques (DBN) com a eines de modelat i anàlisi de la fiabilitat com també presenta algunes mesures d'importància de la fiabilitat (RIMs). En particular, aquesta tesi desenvolupa models de BNs per a l'anàlisi de la fiabilitat del sistema a través de l'ús de tècniques d'inferència bayesiana. Les xarxes bayesianes són eines poderoses en l'avaluació de la fiabilitat del sistema gràcies a la seva flexibilitat en el modelat de la fiabilitat de sistemes complexos. Per a la implementació de l?esquema de HAC, aquesta tesi presenta i discuteix la integració de la informació sobre la salut i degradació dels actuadors mitjançant les RIMs en algoritmes de control predictiu basat en models (MPC) i control lineal quadràtic (LQR). En les estratègies proposades, els paràmetres de la funció de cost s'ajusten utilitzant els RIMs. Aquestes tècniques de control fiable permetran millorar la disponibilitat i la seguretat dels sistemes evitant l'aparició de fallades a través de la incorporació d'aquesta informació de la salut dels components en l'algoritme de control. Les estratègies de HAC proposades s'apliquen a una xarxa d'aigua potable (DWN) i a un sistema UAV multirrotor. A més, un tercer enfocament fent servir la degradació dels actuadors com a restricció dins l'algoritme de control MPC s'aplica a un sistema aeri a dos graus de llibertat (TRMS). Finalment, aquesta tesi també presenta i discuteix dues interpretacions de la fiabilitat. Aquestes interpretacions, nomenades instantània i esperada, difereixen en la forma en què s'avalua la fiabilitat i com es considera la seva evolució al llarg del temps. Aquesta comparació es realitza en el marc del control HAC i estudia la fiabilitat del sistema en tots dos enfocaments.Esta tesis presenta algunas contribuciones en el campo del control basado en la salud de los componentes “Health-Aware Control” (HAC) de sistemas dinámicos. En la primera parte de esta tesis, se presenta una revisión de los conceptos y metodologíasrelacionados con la fiabilidad versus degradación, el control tolerante a fallos versus el HAC. En primer lugar, y para unificar los conceptos, se introducen los conceptos de degradación y fiabilidad, modelos de fiabilidad y de HAC incluyendo algunas de las contribuciones teóricas y aplicadas más relevantes. La tesis, demás formaliza y ejemplifica el modelado de fiabilidad utilizando la función de estructura del sistema, redes bayesianas (BN) y redes bayesianas diná-micas (DBN) como herramientas de modelado y análisis de fiabilidad como también presenta algunas medidas de importancia de la fiabilidad (RIMs). En particular, esta tesis desarrolla modelos de BNs para el análisis de la fiabilidad del sistema a través del uso de técnicas de inferencia bayesiana. Las redes bayesianas son herramientas poderosas en la evaluación de la fiabilidad del sistema gracias a su flexibilidad en el modelado de la fiabilidad de sistemas complejos. Para la implementación del esquema de HAC, esta tesis presenta y discute la integración de la información sobre la salud y degradación de los actuadores mediante las RIMs en algoritmos de control predictivo basado en modelos (MPC) y del control cuadrático lineal (LQR). En las estrategias propuestas, los parámetros de la función de coste se ajustan utilizando las RIMs. Estas técnicas de control fiable permitirán mejorar la disponibilidad y la seguridad de los sistemas evitando la aparición de fallos a través de la incorporación de la información de la salud de los componentes en el algoritmo de control. Las estrategias de HAC propuestas se aplican a una red de agua potable (DWN) y a un sistema UAV multirotor. Además, un tercer enfoque que usa la degradación de los actuadores como restricción en el algoritmo de control MPC se aplica a un sistema aéreo con dos grados de libertad (TRMS). Finalmente, esta tesis también presenta y discute dos interpretaciones de la fiabilidad. Estas interpretaciones, llamadas instantánea y esperada, difieren en la forma en que se evalúa la fiabilidad y cómo se considera su evolución a lo largo del tiempo. Esta comparación se realiza en el marco del control HAC y estudia la fiabilidad del sistema en ambos enfoques

Contribution to reliable control of dynamic systems

Aplicat embargament des de la data de defensa fins al maig 2020This thesis presents sorne contributions to the field of Health-Aware Control (HAC) of dynamic systems. In the first part of this thesis, a review of the concepts and methodologies related to reliability versus degradation and fault tolerant control versus health-aware control is presented. Firstly, in an attempt to unify concepts, an overview of HAC, degradation, and reliability modeling including some of the most relevant theoretical and applied contributions is given. Moreover, reliability modeling is formalized and exemplified using the structure function, Bayesian networks (BNs) and Dynamic Bayesian networks (DBNs) as modeling tools in reliability analysis. In addition, some Reliability lmportance Measures (RIMs) are presented. In particular, this thesis develops BNs models for overall system reliability analysis through the use of Bayesian inference techniques. Bayesian networks are powerful tools in system reliability assessment due to their flexibility in modeling the reliability structure of complex systems. For the HAC scheme implementation, this thesis presents and discusses the integration of actuators health information by means of RIMs and degradation in Model Predictive Control (MPC) and Linear Quadratic Regulator algorithms. In the proposed strategies, the cost function parameters are tuned using RIMs. The methodology is able to avoid the occurrence of catastrophic and incipient faults by monitoring the overall system reliability. The proposed HAC strategies are applied to a Drinking Water Network (DWN) and a multirotor UAV system. Moreover, a third approach, which uses MPC and restricts the degradation of the system components is applied to a twin rotor system. Finally, this thesis presents and discusses two reliability interpretations. These interpretations, namely instantaneous and expected, differ in the manner how reliability is evaluated and how its evolution along time is considered. This comparison is made within a HAC framework and studies the system reliability under both approaches.Aquesta tesi presenta algunes contribucions al camp del control basat en la salut dels components "Health-Aware Control" (HAC) de sistemes dinàmics. A la primera part d'aquesta tesi, es presenta una revisió dels conceptes i metodologies relacionats amb la fiabilitat versus degradació, el control tolerant a fallades versus el HAC. En primer lloc, i per unificar els conceptes, s'introdueixen els conceptes de degradació i fiabilitat, models de fiabilitat i de HAC incloent algunes de les contribucions teòriques i aplicades més rellevants. La tesi, a més, el modelatge de la fiabilitat es formalitza i exemplifica utilitzant la funció d'estructura del sistema, xarxes bayesianes (BN) i xarxes bayesianes dinamiques (DBN) com a eines de modelat i anàlisi de la fiabilitat com també presenta algunes mesures d'importància de la fiabilitat (RIMs). En particular, aquesta tesi desenvolupa models de BNs per a l'anàlisi de la fiabilitat del sistema a través de l'ús de tècniques d'inferència bayesiana. Les xarxes bayesianes són eines poderoses en l'avaluació de la fiabilitat del sistema gràcies a la seva flexibilitat en el modelat de la fiabilitat de sistemes complexos. Per a la implementació de l?esquema de HAC, aquesta tesi presenta i discuteix la integració de la informació sobre la salut i degradació dels actuadors mitjançant les RIMs en algoritmes de control predictiu basat en models (MPC) i control lineal quadràtic (LQR). En les estratègies proposades, els paràmetres de la funció de cost s'ajusten utilitzant els RIMs. Aquestes tècniques de control fiable permetran millorar la disponibilitat i la seguretat dels sistemes evitant l'aparició de fallades a través de la incorporació d'aquesta informació de la salut dels components en l'algoritme de control. Les estratègies de HAC proposades s'apliquen a una xarxa d'aigua potable (DWN) i a un sistema UAV multirrotor. A més, un tercer enfocament fent servir la degradació dels actuadors com a restricció dins l'algoritme de control MPC s'aplica a un sistema aeri a dos graus de llibertat (TRMS). Finalment, aquesta tesi també presenta i discuteix dues interpretacions de la fiabilitat. Aquestes interpretacions, nomenades instantània i esperada, difereixen en la forma en què s'avalua la fiabilitat i com es considera la seva evolució al llarg del temps. Aquesta comparació es realitza en el marc del control HAC i estudia la fiabilitat del sistema en tots dos enfocaments.Esta tesis presenta algunas contribuciones en el campo del control basado en la salud de los componentes “Health-Aware Control” (HAC) de sistemas dinámicos. En la primera parte de esta tesis, se presenta una revisión de los conceptos y metodologíasrelacionados con la fiabilidad versus degradación, el control tolerante a fallos versus el HAC. En primer lugar, y para unificar los conceptos, se introducen los conceptos de degradación y fiabilidad, modelos de fiabilidad y de HAC incluyendo algunas de las contribuciones teóricas y aplicadas más relevantes. La tesis, demás formaliza y ejemplifica el modelado de fiabilidad utilizando la función de estructura del sistema, redes bayesianas (BN) y redes bayesianas diná-micas (DBN) como herramientas de modelado y análisis de fiabilidad como también presenta algunas medidas de importancia de la fiabilidad (RIMs). En particular, esta tesis desarrolla modelos de BNs para el análisis de la fiabilidad del sistema a través del uso de técnicas de inferencia bayesiana. Las redes bayesianas son herramientas poderosas en la evaluación de la fiabilidad del sistema gracias a su flexibilidad en el modelado de la fiabilidad de sistemas complejos. Para la implementación del esquema de HAC, esta tesis presenta y discute la integración de la información sobre la salud y degradación de los actuadores mediante las RIMs en algoritmos de control predictivo basado en modelos (MPC) y del control cuadrático lineal (LQR). En las estrategias propuestas, los parámetros de la función de coste se ajustan utilizando las RIMs. Estas técnicas de control fiable permitirán mejorar la disponibilidad y la seguridad de los sistemas evitando la aparición de fallos a través de la incorporación de la información de la salud de los componentes en el algoritmo de control. Las estrategias de HAC propuestas se aplican a una red de agua potable (DWN) y a un sistema UAV multirotor. Además, un tercer enfoque que usa la degradación de los actuadores como restricción en el algoritmo de control MPC se aplica a un sistema aéreo con dos grados de libertad (TRMS). Finalmente, esta tesis también presenta y discute dos interpretaciones de la fiabilidad. Estas interpretaciones, llamadas instantánea y esperada, difieren en la forma en que se evalúa la fiabilidad y cómo se considera su evolución a lo largo del tiempo. Esta comparación se realiza en el marco del control HAC y estudia la fiabilidad del sistema en ambos enfoques.Postprint (published version