Adaptive Sliding Mode Fault-Tolerant Control for Uncertain Systems with Time Delay

In this work, an adaptive sliding mode fault-tolerant controller is proposed for a class of uncertain systems with time delay. The integral term is added to the traditional sliding surface to improve the robustness of the control system, and then a type of special sliding surface is designed to cancel the reaching mode based on global sliding mode method. Without the need for fault detection and isolation, an adaptive law is proposed to estimate the value of actuator faults, and an adaptive sliding mode fault-tolerant controller is designed to guarantee the asymptotic stability of sliding dynamics. Finally, the presented control scheme is applied to the position control of a Qball-X4 quad-rotor UAV model to verify the effectiveness.