Sliding Mode Fault-Tolerant Control for Nonlinear High-Order Fully Actuated Systems

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Fault-Tolerant Control

Background:

• High-order fully actuated systems (HOFASs) can manage known nonlinearities.
• Practical systems frequently face unknown nonlinearities, such as component faults and external disturbances.
• Existing methods struggle with uncertainties in HOFAS control.

Purpose of the Study:

• To develop a robust fault-tolerant control strategy for nonlinear HOFAS with unknown faults and disturbances.
• To ensure the stability and reliability of closed-loop systems under adverse conditions.
• To provide a control design framework independent of nonlinear function complexity.

Main Methods:

• Application of high-order fully actuated systems (HOFAS) theory.
• Design of an integrated sliding mode fault-tolerant control strategy.
• Development of state feedback and output feedback controllers.
• Utilizing an extended state observer for state estimation in output feedback control.

Main Results:

• A novel integrated sliding mode fault-tolerant control strategy was successfully proposed.
• Both state feedback and output feedback controllers were designed and implemented.
• An extended state observer effectively estimated system states for output feedback.
• Stability analysis proved independent of nonlinear function complexity.

Conclusions:

• The proposed fault-tolerant control strategy effectively ensures the stability of nonlinear HOFAS with unknown faults and disturbances.
• The method offers a practical and robust approach for controlling complex systems.
• Numerical simulations confirmed the effectiveness of the developed control strategy.