Adaptive terminal sliding mode control for system with actuator failures

This paper investigates the adaptive terminal sliding mode control problem for system with actuator faults. By means of the state transformation and a fast adaptive terminal sliding mode (TSM) methods, the total failure of certain actuator under the redundancy assumption can be coped. Without the need for a fault detection and isolation (FDI) mechanism, an adaptive sliding mode controller is designed to ensure the finite-time reachability of sliding surface and the stability of sliding mode dynamics, where the gain is updated automatically to compensate the effect of actuator faults and exogenous disturbances. Simulation results show that the proposed method is effective and feasible.