Orthogonal matrix based control allocation for time-varying state delay systems with actuator faults

This technical note mainly focuses on the problem of fault tolerant control for a class of time-varying state delay systems against actuator failures. A novel control allocation scheme via the orthogonal matrix technique is proposed, in which the partition technique can make that each row vector in the partitioned control matrix have elements of free magnitude while satisfying the control requirement. Based on the proposed method combining with the integral sliding mode approach, some less conservative stability conditions for the closed-loop system have been obtained. The effectiveness of the proposed scheme against failures is illustrated via a large transport aircraft model.