Sliding Mode Fault-Tolerant Control for Nonlinear High-Order Fully Actuated Systems

Abstract

The high-order fully actuated systems (HOFASs) approach can only completely eliminate known nonlinearities. However, the practical systems often encounter unknown nonlinearities, including disturbances and faults. Therefore, this article studies a class of nonlinear HOFAS with component faults and disturbances. By applying the HOFAS theory, a novel integrated sliding mode fault-tolerant control strategy is proposed to ensure the stability of the closed-loop system. The state feedback and output feedback controllers are designed, respectively. For output feedback control, an extended state observer is designed to estimate system states. Once the HOFAS model is established, the designed controller and extended state observer can be directly implemented, facilitating the analysis and design of the control system. And the stability analysis does not depend on the complexity of the nonlinear functions. Finally, a numerical simulation example shows the effectiveness of the proposed method.