Active Fault Tolerant Nonsingular Terminal Sliding Mode Control for Electromechanical System Based on Support Vector Machine

Abstract

Effective fault diagnosis and fault-tolerant control method for aeronautics electromechanical actuator is concerned in this paper. By borrowing the advantages of model-driven and data-driven methods, a fault tolerant nonsingular terminal sliding mode control method based on support vector machine (SVM) is proposed. A SVM is designed to estimate the fault by off-line learning from small sample data with solving convex quadratic programming method and is introduced into a high-gain observer, so as to improve the state estimation and fault detection accuracy when the fault occurs. The state estimation value of the observer is used for state reconfiguration. A novel nonsingular terminal sliding mode surface is designed, and Lyapunov theorem is used to derive a parameter adaptation law and a control law. It is guaranteed that the proposed controller can achieve asymptotical stability which is superior to many advanced fault-tolerant controllers. In addition, the parameter estimation also can help to diagnose the system faults because the faults can be reflected by the parameters variation. Extensive comparative simulation and experimental results illustrate the effectiveness and advancement of the proposed controller compared with several other main-stream controllers.