Model-reference sliding mode FTC with on-line control allocation

This paper describes an adaptive model-reference sliding mode fault tolerant control scheme with on-line control allocation. The control allocation scheme uses the effectiveness level of the actuators to redistribute the control signals to the remaining actuators when a fault or failure occurs, while the adaptive non-linear gain and reference model provide online tuning for the controller. This paper provides a rigorous stability analysis for the proposed model-reference scheme. The scheme has been tested on the ADMIRE aircraft model and shows that faults and even total actuator failures can be handled. The simulations show good results when tested on various failure scenarios.