Actuator fault tolerant control scheme for nonlinear uncertain systems using backstepping based sliding mode

A fault tolerant control (FTC) scheme for tracking control is proposed for nonlinear uncertain systems affected by actuator faults and matched uncertainties with unknown upper bound. The proposed controller utilizes backstepping control which is integrated with integral sliding mode control method. For designing the integral sliding mode controller, an adaptive law is used to estimate the unknown upper bounds of faults and uncertainties. The proposed FTC ensures satisfactory transient and steady state performances with a chattering free control input. Asymptotic stability in presence of matched uncertainties and partial loss of actuator effectiveness is guaranteed in the proposed control system. The efficiency of the proposed fault tolerant control scheme is demonstrated by simulation results.