Fault tolerant control of nonlinear systems via a CA-based integral sliding mode technique

This paper explores the active fault tolerant control issue for a class of uncertain nonlinear systems using a control allocation (CA)-based integral sliding mode control (ISMC) technique. When the information of fault detection and diagnosis is available, the presented scheme can tolerate some of the actuators´ faults, while maintains the main advantages of both CA and ISMC techniques. A remarkable one is that, when the uncertainties and/or disturbances are matched, the state trajectories of the selected nominal system and the uncertain faulty system are identical. As a result, engineers can predictively address the performance of matched uncertain faulty system in accordance with the performance of a selected nominal system. The proposed analytic results are applied to the attitude control of a spacecraft to demonstrate the benefits of the proposed scheme.