Adaptive Sliding Mode Control Design of Uncertain Switched Systems with Actuator Faults

In this paper, an adaptive sliding mode control scheme is put forward for a type of uncertain switched systems subject to partial actuator faults. First, a linear switching surface is constructed so that the dynamics during the sliding mode are invariant to the matched uncertainties. Then, the exponential stability of the switched system with actuator degradation is guaranteed upon a new sufficient criterion. In the case of partial failure of the controller, a novel adaptive controller is designed to ensure the reachability of the sliding manifold in a finite instant. In the end, simulation example results are provided to illustrate the availability of the control scheme.