A multivariable super-twisting-based fault-tolerant control with control allocation for uncertain systems

This article contributes with a fault-tolerant control (FTC) for uncertain systems under the effect of some possible time- and state-dependent actuator faults and/or failures, and component faults, which are zero at the initial time. The proposed scheme is based on a continuous integral sliding-mode control approach and a fixed control allocation technique. The integral sliding-mode control strategy allows us to design a robust linear controller and a multivariable Super-Twisting algorithm, which deals with the faults. The proposed scheme guarantees the fulfilment of an output regulation task, with an arbitrarily small regulation error, and does not require a fault diagnosis stage but full-state availability. The performance of the proposed FTC is illustrated through some simulations on a benchmark B747 aircraft model.