An adaptive sliding mode controller for accommodating actuator failures

This paper deals with the robust adaptive fault-tolerant compensation control problem for linear systems with actuator faults. By incorporating the matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under the assumption that redundancy is available in the system. Without the need for a fault detection and isolation (FDI) mechanism, an adaptive sliding mode controller based on a new lemma is designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults, and exogenous disturbances. The effectiveness of the proposed design method is illustrated via an example.