Design and Analysis of an Integral Sliding Mode Fault Tolerant Control Scheme

Abstract

Abstract-A novel scheme for fault tolerant control is proposed in this paper, in which integral sliding mode ideas are incorporated with control allocation to cope with the total failure of certain actuators, under the assumption that redundancy is available in the system. The proposed scheme uses the effectiveness level of the actuators to redistribute the control signals to healthy actuators without reconfiguring the controller. The effectiveness of the proposed scheme against faults or failures is tested in simulation based on a large transport aircraft model. Index Terms-Fault tolerant control (FTC), linear matrix inequalities (LMIs), integral sliding modes (ISM).

A Fault Tolerant Direct Control Allocation Scheme with Integral Sliding Modes

“…Recently, the ideas of ISM control have been used in the framework of active FTC, for state feedback and output feedback systems (cf. Hamayun et al, 2012;. In both the schemes of Hamayun et al (2012;, information about actuator effectiveness levels was explicitly used in the CA component.…”

“…Hamayun et al, 2012;. In both the schemes of Hamayun et al (2012;, information about actuator effectiveness levels was explicitly used in the CA component.…”

“…To provide the solution, the idea of direct control allocation is incorporated within the ISM FTC framework. The contribution of this paper as compared to the FTC schemes by Hamayun et al (2012; is that the proposed scheme has the capability to deal with actuator faults/failures without any FDI scheme and is suitable for the case where fault information is not available to the controller. A detailed LMI based procedure is provided to synthesize the controller parameters, and a rigorous closed-loop stability analysis is carried out in the presence of unmatched uncertainty for a suitable set of actuator faults/failures.…”

“…A detailed LMI based procedure is provided to synthesize the controller parameters, and a rigorous closed-loop stability analysis is carried out in the presence of unmatched uncertainty for a suitable set of actuator faults/failures. The proposed scheme is compared in simulation with the FTC scheme by Hamayun et al (2012) by considering the same manoeuvre on a high fidelity nonlinear model of transport aircraft in the presence of wind, gusts and sensor noise.…”

“…A detailed LMI based procedure is also provided to synthesize the controller parameters to ensure closed loop stability in the presence of unmatched uncertainty for a suitable set of actuator faults/failures. Sections 4 and 5 demonstrate how the proposed scheme's performance can be compared, in simulation, with the recently published active fault tolerant control scheme by Hamayun et al (2012) by considering the same manoeuvre in the presence of wind, gusts and sensor noise, on a high fidelity nonlinear model of a transport aircraft. Finally, Section 6 concludes the paper by highlighting the main achievements of the work.…”