In this paper, a combination of dynamic constrained control allocation with terminal sliding mode control is proposed for a general class of overactuated nonlinear systems with actuator faults/failures. First, the terminal sliding mode control is designed to converge the system tracking error to zero in a finite-time. Then a control allocation strategy is developed and will be solved by a Lyapunov method, which leads to a dynamic update law with finite-time convergence. This strategy satisfies input limits and when faults/failures occur in some of the actuators, the control signals are automatically redistributed among the healthy actuators. Simulation results on a near space vehicle show the effectiveness of the proposed approach.
Overactuated systems, Lyapunov method, Terminal sliding mode control, Dynamic control allocation
BOUKANI, SAMAN EBRAHIMI; KHOSROWJERDI, MOHAMMAD JAVAD; and AMJADIFARD, ROYA
"Constrained control allocation for nonlinear systems with actuator failures or faults,"
Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 25:
4, Article 49.
Available at: https://journals.tubitak.gov.tr/elektrik/vol25/iss4/49