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Integral Sliding-Mode Fault-Tolerant Control for Fuzzy Singular Systems with Actuator Saturation

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Abstract

In this paper, the \(H_\infty \) reliable control problem is investigated for a class of nonlinear singular systems subject to external disturbance and actuator faults and saturations. By means of the Takagi–Sugeno fuzzy model to describe the nonlinear plant, a reliable sliding-mode control scheme is built to compensate for the impact of aforementioned factors on system stability and performance. First, a fuzzy integral sliding function is designed and sufficient conditions are derived such that the sliding-mode dynamics is robustly admissible and satisfies the pre-specified \(H_\infty \) disturbance attenuation requirement. Then, by considering the saturation as nonlinear input, an adaptive sliding-mode control law is synthesized to ensure reachability of the specified sliding surface. Finally, the lower-limb rehabilitation system is exploited to validate the effectiveness of the presented controller design methodology.

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Authors and Affiliations

  1. College of Engineering, University of Hail, P.O. Box 2440, Hail, Kingdom of Saudi Arabia

    M. Kchaou

  2. Lab-STA, LR11ES50, National School of Engineering of Sfax, University of Sfax, 3038, Sfax, Tunisia

    M. Kchaou

  3. Electrical Department, Faculty of Engineering, Islamic University of Madinah, Madinah, Kingdom of Saudi Arabia

    S. Al Ahmadi & E. Draou

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  1. M. Kchaou
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Kchaou, M., Al Ahmadi, S. & Draou, E. Integral Sliding-Mode Fault-Tolerant Control for Fuzzy Singular Systems with Actuator Saturation. Circuits Syst Signal Process 39, 1307–1334 (2020). https://doi.org/10.1007/s00034-019-01210-1

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