Integral sliding mode fault-tolerant control against actuator nonsymmetric deadzone and unmatched disturbances

This paper focuses on an integral sliding mode control (ISMC) algorithm for the fault-tolerant control of linear continuous multi-input systems with non-smooth nonsymmetric actuator dead-zone failure and unmatched disturbances. The dead-zone is first modeled as a combination of a line and a disturbance-like term. And the novelty of the paper lies in that the treatment of the deadzone failure based on the simplified dead-zone model. The bounded disturbance-like term which enters the state equation at the same point as the control input can be rejected completely by ISMC technology, and the linear part of the deadzone will be compensated by state feedback controller based on linear matrix inequality (LMI). It is worth pointing out that once the system is in the sliding mode, the proposed integral sliding mode control law ensures that the dead zone is compensated completely and sustains the better nature of performing unmatched perturbations attenuation than utilizing H-infinity control analytical technique alone. Finally, the feasibility of our proposed algorithm is illustrated by using a numerical example.