An Output Feedback Switching Controller for Actuator Failure Compensation via Sliding Modes

Abstract This paper addresses the actuator failure compensation problem, and considers an uncertain linear plant which is supposed to undergo unknown failures causing the plant input to be stuck at some uncertain but bounded value. First, a state feedback actuator failure compensation controller is proposed. Next, a switching control policy, based on output feedback VSC, is presented. Here, the switching control scheme contains a supervisor, i.e. a nonlinear, time-varying, dynamic output feedback controller, aimed at driving the switching among a finite number of different possible configurations. The search for the suitable configuration is made by checking (following a prerouted policy) each candidate controller’s output performance.

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