Integral sliding mode fault tolerant control incorporating on-line control allocation

This paper proposes a novel integral sliding mode on-line control allocation scheme for fault tolerant control. The order of the sliding motion in the sliding mode is not reduced as in conventional sliding mode schemes. Also the robustness of the closed loop system can be guaranteed throughout the entire response, starting from the initial time instant, because there is no reaching phase. Actuator effectiveness levels are used to redistribute the control signals to healthy actuators online in the case of faults or failures without reconfiguring the controller. In this way the scheme can cope with total failure of certain actuators. Simulation results using the Admire aircraft model show good performance in fault and even certain total actuator failure scenarios which validates the effectiveness and feasibility of the proposed scheme.