Browsing by Author "Wu, Zheng-Lun"

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Study of Nonsingular Fast Terminal Sliding-Mode Fault-Tolerant Control
(2015-06-01)
Xu, Sendren Sheng-Dong
;
Chen, Chih-Chiang
;
Wu, Zheng-Lun
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper studies fault-tolerant control (FTC) designs based on nonsingular terminal sliding-mode control and nonsingular fast terminal sliding-mode control (NFTSMC). The proposed active FTC laws are shown to be able to achieve fault-tolerant objectives and maintain stabilization performance even when some of the actuators fail to operate. In comparison to existing sliding-mode control (SMC) fault-tolerant designs, the proposed schemes not only can retain the advantages of traditional SMC, including fast response, easy implementation, and robustness to disturbances/uncertainties, but also make the system states reach the control objective point in a finite amount of time. Moreover, they also resolve the potential singularity phenomena in traditional terminal and faster terminal SMC designs; meanwhile, the proposed NFTSMC fault-tolerant scheme also possesses the benefit of faster state convergence speed of NFTSMC. Finally, the proposed analytical results are also applied to the attitude control of a spacecraft. Simulation results demonstrate the benefits of the proposed schemes.