Sliding Mode Robust Fault-Tolerant Control for Uncertain Systems with Time Delay

• Published in: Shanghai jiao tong da xue xue bao Vol. 22; no. 2; pp. 240 - 246
• Main Author: 杨蒲 倪江帆 潘旭 郭瑞诚
• Format: Journal Article
• Language: English
• Published: Shanghai Shanghai Jiaotong University Press 01.04.2017; Springer Nature B.V
• Subjects: Actuators; Architecture; Computer Science; Control methods; Control stability; Control theory; Electrical Engineering; Engineering; Fault tolerance; H-infinity control; Life Sciences; Linear matrix inequalities; Materials Science; Mathematical analysis; Performance indices; Robust control; Sliding mode control; Time delay systems; Uncertainty; Upper bounds; A; fault-tolerant control; time delay; robust; sliding mode control; TP 273
• ISSN: 1007-1172; 1995-8188
• DOI: 10.1007/s12204-017-1827-3

Considering the modeling uncertainties and external disturbance, a kind of sliding mode robust H∞fault-tolerant control method for time delay system with actuator fault is proposed. The upper-bound of the uncertainties is considered as a known constant, while the upper-bound of the actuator fault is unknown. A sufficient condition for the existence of an integral sliding mode dynamics is given in terms of linear matrix inequality(LMI). A novel adaptive law is given to estimate the unknown upper-bound of faults. On this basis, a type of sliding mode robust H∞fault-tolerant control law is designed to guarantee the asymptotic stability and the H_∞ performance index of the system. Finally, the simulation on quad-rotor semi-physical platform demonstrates the reliability and validity of the method.