Bumpless Switching Control for Switched Systems With Sensor Failures Using Terminal Sliding Mode Method

This paper investigates the bumpless switching problem of switched systems with sensor failures, for the purpose of getting smooth transitions of the control input. First, two kinds of controllers are taken into account-one is for normal use, and the other is for fault-tolerant control when the system is subjected to sensor failures. Second, bumpless transfer compensator design method is proposed based on terminal sliding mode (TSM) control. By the reasonably designed compensator, the difference between the outputs of controllers can be minimized to a small value, to guarantee the bumpless transfer of control input when the sensor failures have occurred. Finally, numerical simulations verify the effectiveness of the proposed method.