Adaptive Sliding-Mode Fault Tolerant Control for Delayed Nonlinear Systems with Actuator Fault

Abstract

This paper focuses on the sliding mode fault-tolerant control (SMFTC) problem for a class of delayed nonlinear systems in presence of actuator fault and nonlinear input. Firstly, the augmented strategy involving system state, actuator fault and external disturbance is constructed, and then the fault-tolerant observer is designed accordingly. An SMFTC law ensuring the asymptotical stability of the reduce-order estimation error is provided subsequently. To further illustrate the system performance, a new sliding function with respect to decomposed signal is constructed and the asymptotically stability of sliding motion is analyzed. Moreover, a novel adaptive-based sliding mode controller is presented to steer the system state onto the sliding manifold. Finally, a verification example is considered to demonstrate the usefulness of the proposed SMFTC approach.