Sliding mode fault tolerant control for nonlinear dynamic systems with actuator faults and external disturbances

Aiming at a class of nonlinear dynamic systems subjected to external disturbances and actuator faults, the sliding mode fault tolerant control is proposed. Firstly, a novel adaptive observer is proposed to estimate the state and fault signal simultaneously. Secondly, in accordance with the on line estimation information, the sliding mode fault tolerant control scheme is designed to compensate the actuator faults and external disturbances. Finally, the numerical simulation results demonstrate the effectiveness of the proposed method.

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