Robust adaptive fault-tolerant control of uncertain linear systems via sliding-mode output feedback

This paper is concerned with the robust adaptive fault-tolerant compensation control problem via sliding-mode output feedback for uncertain linear systems with actuator faults and exogenous disturbances. Mismatched disturbance attenuation is performed via H∞ norm minimization. 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 mechanism, an adaptive sliding mode controller, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults, is designed to guarantee the asymptotic stability and adaptive H∞ performance of closed-loop systems. The effectiveness of the proposed design method is illustrated via a B747-100/200 aircraft model.