Adaptive Sliding Mode MRAC of Delayed Nonlinear Plants with Actuator Failures

In this paper, we develop a combined sliding mode – model reference adaptive control (MRAC) scheme for a class of delayed nonlinear dynamic systems with actuator failure which is robust with respect to actuator failures, an unknown plant delay, to a nonlinear perturbation, and to an external disturbance with unknown bounds. An appropriate Lyapunov-Krasovskii type functional with “virtual” adaptation gains is introduced to design the adaptation algorithms, and to prove stability.