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Integral sliding mode fault‐tolerant control allocation for a class of affine nonlinear system
Author(s) -
Chen L.,
Edwards C.,
Alwi H.
Publication year - 2018
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4282
Subject(s) - control theory (sociology) , actuator , nonlinear system , affine transformation , redundancy (engineering) , fault tolerance , integral sliding mode , controller (irrigation) , computer science , sliding mode control , scheme (mathematics) , control engineering , control (management) , engineering , mathematics , distributed computing , artificial intelligence , biology , physics , quantum mechanics , pure mathematics , agronomy , operating system , mathematical analysis
Summary This paper develops novel fault‐tolerant integral sliding mode control allocation schemes for a class of an overactuated affine nonlinear system. The proposed schemes rely on an existing baseline controller, and the objective is to retain the nominal (fault‐free) closed‐loop performance in the face of actuator faults/failures by effectively utilizing actuator redundancy. The online control allocation reroutes the control effort to healthy actuators using the knowledge of actuator effectiveness level estimates. One of the proposed schemes is tested in simulation using a well‐known high‐fidelity model of a large civil transport aircraft (B747) from the literature. Good simulation results show the efficacy of the scheme.