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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 609523, 12 pages
Research Article

Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

1Departamento de Ingeniería Eléctrica y Electrónica, Universidad Nacional de Colombia, Carrera 45 No. 26-85, Bogotá, Colombia
2Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN), Avenida Instituto Politécnico Nacional, No. 2508, Departamento de Ingeniería Eléctrica, Sección de Mecatrónica, Colonia San Pedro Zacatenco A.P. 14740, 07300 México, DF, Mexico
3Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas (UPIITA), Instituto Politécnico Nacional, Avenida Instituto Politécnico Nacional 2580, Barrio La Laguna Ticomán, Gustavo A. Madero 07340, México, DF, Mexico

Received 23 August 2013; Revised 4 November 2013; Accepted 6 November 2013

Academic Editor: Baoyong Zhang

Copyright © 2013 John Cortés-Romero 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 work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI) observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.