Sliding mode robust fault-tolerant control for uncertain systems with time delay
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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.
Key wordsfault-tolerant control sliding mode control time delay robust H∞
CLC numberTP 273
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