Abstract
A fault-tolerant control algorithm based on sliding modes is proposed to ensure the tracking of the desired trajectory for time-varying systems even in the presence of actuator faults. The proposed algorithm uses a continuous integral sliding mode and a linear quadratic regulator, together with control allocation and system inversion techniques, resulting in both a finite-time exact compensation of the faults and the exponential tracking of the reference.
Highlights
Linear and nonlinear systems are vulnerable or susceptible to failure
Is work only considers actuator faults, which can be partial or total, and it is assumed that the system has redundancy in the actuators. is redundancy allows the control signal in the actuators to be reconfigured to the fault
In [21], an fault-tolerant control (FTC) scheme based on continuous integral sliding modes (CISM) for linear time-invariant (LTI) systems is proposed, guaranteeing convergence right after the initial time by assuming the absence of faults until the controller has converged
Summary
Linear and nonlinear systems are vulnerable or susceptible to failure. A fault changes the behavior of a system so that the system can no longer fulfill its objective. In [21], an FTC scheme based on CISM for LTI systems is proposed, guaranteeing convergence right after the initial time by assuming the absence of faults until the controller has converged. This assumption is quite restrictive since the system may present faults at the initial time. Is paper aims to design a fault-tolerant control algorithm against actuator faults, based on continuous integral sliding modes with online control allocation for timevarying linear systems, with redundancy in the actuators.
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