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.
YANG Pu* (杨蒲), NI Jiangfan (倪江帆), PAN Xu (潘旭), GUO Ruicheng (郭瑞诚)
. Sliding Mode Robust Fault-Tolerant Control for Uncertain Systems with Time Delay[J]. Journal of Shanghai Jiaotong University(Science), 2017
, 22(2)
: 240
-246
.
DOI: 10.1007/s12204-017-1827-3
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