Integral sliding mode fault-tolerant control allocation for a class of affine nonlinear system

This paper develops novel fault-tolerant integral sliding mode control allocation schemes for a class of an overactuated affine nonlinear system. The proposed schemes rely on an existing baseline controller, and the objective is to retain the nominal (fault-free) closed-loop performance in the face of actuator faults/failures by effectively utilizing actuator redundancy. The online control allocation reroutes the control effort to healthy actuators using the knowledge of actuator effectiveness level estimates. One of the proposed schemes is tested in simulation using a well-known high-fidelity model of a large civil transport aircraft (B747) from the literature. Good simulation results show the efficacy of the scheme.