Sliding mode fault-tolerant control of uncertain system: A delta operator approach

This paper is concerned with the sliding mode control of uncertain nonlinear systems against actuator faults and external disturbances based on delta operator approach. The nonlinearity, actuator fault, and external disturbance are considered in this study, and the bounds of Euclidean norms of the nonlinearity and the specific lower and upper bounds of the actuator faults and the disturbances are unknown knowledge. Our attention is mainly focused on designing a sliding mode fault-tolerant controller to compensate the effects from the nonlinearity, unknown actuator fault, and external disturbance. Based on Lyapunov stability theory, a novel-adaptive fault-tolerant sliding mode control law is deigned such that the resulting closed loop delta operator system is finite-time convergence and the actuator faults can be tolerated, simultaneously. Finally, simulation results are provided to verify the effectiveness of the proposed control design scheme. Copyright (c) 2017 John Wiley & Sons, Ltd.