Sliding mode fault-tolerant control for uncertain time-delay systems

The problem of designing a sliding mode fault-tolerant controller for a class of uncertain time-delay systems in presence of actuator faults is investigated. First, for the effect of time-delay and parameter uncertainty on control performance, a sufficient condition is given with Finsler´s lemma and linear matrix inequality(LMI) technique to guarantee the asymptotic stability of the sliding mode of the system; Second, according to the actuator faults, a kind of integral sliding surface is introduced and a global sliding mode equivalent control law is designed to make the system arrive at the sliding surface in finite time, in despite of the position of initial states, so that the safety of system can be guaranteed. Finally, the control algorithm is applied in the quadrotor semi-physical simulation platform, and the effectiveness and feasibility of this algorithm is verified.