This paper proposes a robust fault tolerant control scheme for a class of second-order uncertain nonlinear systems. First, a novel PI full-order sliding mode (PI-FOSM) control, which integrates a new PI-FOSM sliding surface and a continuous control law, is developed. The crucial parameters of the controller are optimally selected by Bat algorithm so that the nearly optimal performance of the controller can be achieved. In addition, the unknown system dynamics is approximated by using a radial basic function neural network (RBFNN) so that the proposed controller does not require an exact model of the system. Compared with other existing sliding mode controllers for fault tolerant control system, the proposed method provides very strong robustness, low oscillation, fast convergence and high precision. The superior performance of the proposed robust fault tolerant controller is proved through simulation results for attitude control of a spacecraft.

针对一类二阶不确定非线性系统，提出了一种鲁棒的容错控制方案。首先，开发了一种新颖的PI全阶滑模（PI-FOSM）控制，该控制集成了新的PI-FOSM滑动表面和连续控制律。控制器的关键参数通过Bat算法进行最优选择，从而可以实现控制器的近乎最佳性能。此外，未知的系统动力学可以通过使用径向基函数神经网络（RBFNN）进行近似，因此所提出的控制器不需要精确的系统模型。与其他现有的用于容错控制系统的滑模控制器相比，该方法具有很强的鲁棒性，低振荡，快速收敛和高精度。