Sliding mode fault tolerant control for a class of nonholonomic systems and its aerospace application

Abstract

This paper presents a more general framework for the FTC design of nonholonomic systems in the presence of actuator faults. The faulty system is transformed into the affine system form. New multiple sliding surfaces together with a discontinuous sliding mode FTC law are proposed, which can stabilize the states simultaneously rather than piecewise. Simulation results of an aerospace application example show the effectiveness of the proposed FTC strategy.