Fault Tolerant Control With Re-Configuring Sliding-Mode Schemes

Abstract

In this paper a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard linear observer. Once a fault has been detected the fault distribution matrix can be obtained and used to update the corrective or equivalent control parts of the sliding mode controller. As a result fault tolerant adaptive controllers keep the system performance within acceptable limits or at least avoids the system to wind-up. © TÜBITAK.