Active fault tolerant control based on the Koopman operator for non -linear mimo systems

This research focuses on the challenge of designing control schemes for non -linear pampering systems that face variations in the models parameters and operate in degraded performance scenarios, such as failures, with special emphasis on the application of the Koopman operator paradigm. The key contribution of this study lies in the creation of a methodological framework for the design and implementation of data -based control schemes, through an adaptation of the Koopman operator through a variant of the dynamic modal decomposition technique. The proposed methodology takes advantage of the infrastructure of the Automation and Control Laboratory of the University of Cuenca, which includes semi -industrial prototypes and robots. The methodological approach is structured in specific steps, highlighting the use of prototypes and computer tools to validate and apply the results obtained. Research seeks to advance in the knowledge of the control of complex and non -linear systems, with a particular approach to the dynamic robot control and the optimization of industrial processes.

20th UNIVERSITY RESEARCH PROJECT COMPETITION