Model-reference sliding mode FTC

In the last chapter, a combination of CA and SMC was introduced in an integral action framework for tracking purposes. In this chapter, two different CA strategies will be considered. The first CA strategy is based on the effectiveness of the actuators, whereas in the second strategy, the control signal will be distributed equally among all actuators in a fixed fashion. The difference between this chapter and the previous one is the use of a model-reference framework for tracking purposes. The use of a model-reference tracking strategy is well known in the literature to have the benefit of avoiding the problem of ‘windup’ which can blight integral action tracking methods—especially when significant faults/failures occur. This chapter will highlight the benefit of combining SMC, CA and a model-reference framework for achieving FTC. An adaptive gain and an adaptive reference model are used to increase the flexibility of the design and to provide further tuning for the controller.