Anti-Disturbance Fault-Tolerant Sliding Mode Control for Systems with Unknown Faults and Disturbances

Abstract

In this paper, a novel control algorithm with the capacity of fault tolerance and anti-disturbance is discussed for the systems subjected to actuator faults and mismatched disturbances. The fault diagnosis observer (FDO) and the disturbance observer (DO) are successively designed to estimate the dynamics of unknown faults and disturbances. Furthermore, with the help of the observed information, a sliding surface and the corresponding sliding mode controller are proposed to compensate the actuator faults and eliminate the impact of mismatched disturbances simultaneously. Meanwhile, the convex optimization algorithm is discussed to guarantee the stability of the controlled system. The favorable anti-disturbance and fault-tolerant results can also be proved. Finally, the validity of the algorithm is certified by the simulation results for typical unmanned aerial vehicles (UAV) systems.