Fault-tolerant control with control allocation for linear time varying systems: an output integral sliding mode approach

A fault-tolerant control scheme with a fixed control allocation strategy for linear time varying systems is proposed. The effects of the faults in the critical control channels are compensated theoretically exactly and the remaining effects are minimised by using an output integral sliding mode technique. Both aspects are achieved right after the initial time by using only output information. This approach allows dealing with total failures in some actuators under the assumption of redundancy. The effectiveness of the proposed scheme considering time varying faults is validated by computer simulations.