Abstract
Considering the modeling uncertainties and external disturbance, a kind of sliding mode robust H ∞ fault-tolerant control method for time delay system with actuator fault is proposed. The upper-bound of the uncertainties is considered as a known constant, while the upper-bound of the actuator fault is unknown. A sufficient condition for the existence of an integral sliding mode dynamics is given in terms of linear matrix inequality (LMI). A novel adaptive law is given to estimate the unknown upper-bound of faults. On this basis, a type of sliding mode robust H ∞ fault-tolerant control law is designed to guarantee the asymptotic stability and the H ∞ performance index of the system. Finally, the simulation on quad-rotor semi-physical platform demonstrates the reliability and validity of the method.
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Foundation item: the Fundamental Research Funds for the Central Universities of China (No. NJ20160025), the National Natural Science Foundation of china (Nos. 61203090 and 61374130) and the Fund of Chinese National Engineering and Research Center for Commercial Aircraft Manufacturing (No. SAMC14-JS-15-053)
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Yang, P., Ni, J., Pan, X. et al. Sliding mode robust fault-tolerant control for uncertain systems with time delay. J. Shanghai Jiaotong Univ. (Sci.) 22, 240–246 (2017). https://doi.org/10.1007/s12204-017-1827-3
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DOI: https://doi.org/10.1007/s12204-017-1827-3