Szukana fraza: [Abstract = "In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults\; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed\-loop performance can be retained."]

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