Adaptive integral sliding mode control fault tolerant control for a class of uncertain nonlinear systems

This study considers the problem of adaptive sliding mode control for a class of uncertain non-linear systems with actuator faults and external disturbances. First, a novel reinforcement learning algorithm is first introduced to design the optimal controller of nominal control systems. Then, an integral-type sliding mode approach have been introduced to handle the difficulty caused by actuator failures and disturbance. It is shown that the actuator faults and disturbances can be compensated completely by the proposed controller, and all signals of the resulting closed-loop system are semi-global boundedness by choosing suitable parameters. The authors demonstrate the algorithm by applying it to two simulation examples.