Model Predictive based Sliding Mode Control for Actuator Fault Tolerant Control

This paper, proposes a Model Predictive based Sliding Mode Control (MPSMC) scheme for Actuator Fault Tolerant Control (AFTC). A state observer will be used to construct the innovation signal. The proposed method, uses partial knowledge of the Actuator Fault (AF) to restore the effectiveness of the faulty actuator. The paper provides the stability analysis in the presence of AF for the proposed method. To demonstrate the effectiveness of the proposed method, the benchmark Inverted Pendulum will be used as a performance criterion. The performance of the proposed methods will be compared with the conventional Sliding Mode Controller (SMC).