An integral sliding mode fault tolerant control scheme for an octorotor using fixed control allocation

This paper presents a fault tolerant control scheme which uses integral sliding mode and fixed control allocation. Traditional integral sliding mode control can only handle actuator faults, but when combined with control allocation, the resulting scheme can also handle total actuator failures directly without reconfiguring the baseline integral sliding mode controller. In comparison to most of the existing literature on integral sliding mode fault tolerant control, the control allocation component proposed in this paper uses a fixed structure and therefore does not require any information about the actuator faults/failures i.e. it does not require any fault detection or isolation information. This allows further simplification as the proposed scheme also does not need the baseline controller to be reconfigured. To demonstrate the efficacy of the proposed scheme, a highly redundant multi-rotor UAV (specifically an octorotor model) is considered in the simulations.