A new actuator fault-tolerant control for Lipschitz nonlinear system using adaptive sliding mode control strategy

Salman Ijaz, Fuyang Chen, Mirza Tariq Hamayun

Research output: Journal PublicationArticlepeer-review

16 Citations (Scopus)


This article proposed a new adaptive integral sliding mode (ISM) based fault-tolerant control (FTC) strategy to solve the actuator's faults and failures compensation problem for the class of Lipschitz nonlinear systems. A nominal state feedback virtual control law is designed first to stabilize the Lipschitz nonlinear system and to attain the desired nominal performance. To cater for the effect of faults and failures, the control allocation (CA) scheme reorganizes the virtual input signals among the healthy redundant actuators based on actuator's effectiveness level. Then, a nonlinear adaptive integral sliding mode controller (ISMC) is incorporated with the CA scheme to compensate for unknown disturbance and uncertainties effect that arises in the system by virtue of actuator faults/failures and error in fault estimation. An effective synthesis procedure is adopted to ensure the closed-loop stability condition using linear matrix inequality (LMI) optimization. Finally, the FTC scheme is tested to achieve maneuvering control of coaxial octorotor unmanned aerial vehicle (UAV) system. Simulations are performed on the nonlinear system at different actuator faults/failures combinations. Moreover, the effect of wind-gust, parameter variations, estimated state feedback and sensor noise are considered in nonlinear simulations. Finally, the results obtained during faults/failures are compared with the nominal condition and fixed ISMC based CA scheme.

Original languageEnglish
Pages (from-to)2305-2333
Number of pages29
JournalInternational Journal of Robust and Nonlinear Control
Issue number6
Publication statusPublished - Apr 2021


  • adaptive control
  • fault tolerant control
  • linear matrix inequality
  • nonlinear control
  • sliding mode control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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