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Journal of Control Science and Engineering
Volume 2017 (2017), Article ID 8595960, 13 pages
Research Article

Fault-Tolerant Control of a Nonlinear System Actuator Fault Based on Sliding Mode Control

1College of Electrical and Information Engineering, Hunan University of Technology, Zhuzhou, Hunan 412007, China
2School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907, USA

Correspondence should be addressed to Changfan Zhang

Received 7 December 2016; Revised 28 January 2017; Accepted 5 February 2017; Published 9 March 2017

Academic Editor: Xiao He

Copyright © 2017 Jing He et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a fault-tolerant control scheme for a class of nonlinear systems with actuator faults and unknown input disturbances. First, the sliding mode control law is designed based on the reaching law method. Then, in view of unpredictable state variables and unknown information in the control law, the original system is transformed into two subsystems through a coordinate transformation. One subsystem only has actuator faults, and the other subsystem has both actuator faults and disturbances. A sliding mode observer is designed for the two subsystems, respectively, and the equivalence principle of the sliding mode variable structure is used to realize the accurate reconstruction of the actuator faults and disturbances. Finally, the observation value and the reconstruction value are used to carry out an online adjustment to the designed sliding mode control law, and fault-tolerant control of the system is realized. The simulation results are presented to demonstrate the approach.