This article presents a new fractional order adaptive control scheme design based on sliding mode configuration for actuator failure compensation applied to a wing rock system with redundant actuators. The main objective of this work is to establish an adaptive control law that compensates faulty actuators by taking into account actuator redundancy and introducing fractional calculus. First, a non-integer sliding mode surface is defined. Next, an adaptive scheme is derived from the ideal control law to accommodate for the occurring failures during operation. Then, the stability analysis of the closed loop system is performed using the Lyapunov theory under certain assumptions on the system and the failures. Finally, simulations were carried out on a wing rock system subjected to various actuator failures scenarios in order to illustrate the effectiveness of the proposed control law.

本文提出了一种新的基于滑模配置的分数阶自适应控制方案设计，用于具有冗余执行器的机翼岩石系统的执行器故障补偿。这项工作的主要目的是建立一种自适应控制律，通过考虑执行器冗余并引入分数演算来补偿有故障的执行器。首先，定义非整数滑模表面。接下来，从理想控制定律中得出一种自适应方案，以适应操作过程中发生的故障。然后，在系统和故障的某些假设下，使用李雅普诺夫理论对闭环系统进行稳定性分析。最后，