Adaptive Sliding Mode Fault-Tolerant Control for a Class of Uncertain Systems With Probabilistic Random Delays

This paper investigates the robust control problem of uncertain nonlinear systems subject to actuator faults via the integral sliding mode control (ISMC) scheme. The actuator failures contain the cases of an outage, loss of effectiveness, and stuck fault, which are frequently encountered in practical applications. Furthermore, in this paper, the time-varying delay considered obeys the probability distribution within certain intervals. By fully considering the information of the probabilistic random delay, new sufficient conditions are given to ensure the asymptotical stability of the controlled system with prescribed H∞performance. Moreover, a new control law is proposed to compensate for the effects induced by the actuator faults, and an adaptive mechanism is adapted to estimate the unknown terms. In a word, the proposed ISMC scheme ensures the asymptotical stability with guaranteed H∞performance of the closed-loop system and forces that the state trajectories are attracted to the pre-designed sliding surface. Finally, a practical example of the rocket fairing structural acoustic model is used to clarify the validly of the presented control method.