LAUSR

Fault-tolerant tracking control has recently become an area of research interest, in which fault detection, fault-tolerant control (FTC), and tracking-control techniques are integrated [1, 2]. It is noteworthy that disturbance is a critical factor that degrades system performance [3]. Therefore, disturbance attenuation is indispensable when designing a controller scheme. A common method is to develop a compensator, i.e., an anti-disturbance mechanism could be constructed to compensate for the effects of the disturbance. In previous studies, the disturbance observer based control has been reported as an efficient disturbance-attenuation method [4]. In a fault-tolerant tracking control area, the sliding mode control method has been extensively applied to achieve useful results [5], in which the observer-based sliding mode control has become a popular control approach because of the outstanding features of its disturbance rejection and fault tolerance abilities. This study aims to design an effective FTC scheme for a class of dynamic systems with actuator fault and disturbance by reducing the transmission loads. Consider the following dynamic system: