A multivariable super‐twisting‐based fault‐tolerant control with control allocation for uncertain systems

Abstract

SummaryThis article contributes with a fault‐tolerant control (FTC) for uncertain systems under the effect of some possible time‐ and state‐dependent actuator faults and/or failures, and component faults, which are zero at the initial time. The proposed scheme is based on a continuous integral sliding‐mode control approach and a fixed control allocation technique. The integral sliding‐mode control strategy allows us to design a robust linear controller and a multivariable Super‐Twisting algorithm, which deals with the faults. The proposed scheme guarantees the fulfilment of an output regulation task, with an arbitrarily small regulation error, and does not require a fault diagnosis stage but full‐state availability. The performance of the proposed FTC is illustrated through some simulations on a benchmark B747 aircraft model.

Adaptive super twisting observer‐based prescribed time integral sliding mode tracking control of uncertain robotic manipulators

“…In Reference 24, a new cascaded extended state observer (CESO)‐based SMC is presented for a flexible joint robot control system, where the CESO estimates the disturbances, by which the chattering phenomenon is suppressed due to smaller switching gains. Super twisting algorithm (STA) is one of the most widely used higher‐order sliding mode control (HOSMC) strategies because of its simple structure, finite time convergence, and robustness to unknown perturbations and model uncertainties, thus has attracted much attention to research and applications 26–30 . In Reference 31, the super‐twisting control (STC) is used as a disturbance observer, achieving finite time compensation of matched disturbance in the ISMC control system.…”