Adaptive dynamic event-triggered fault tolerant control for uncertain strict-feedback nonlinear systems

Abstract

In this paper, a dynamic event-triggered mechanism (DETM) is designed for uncertain strict-feedback nonlinear systems with an infinite number of actuator faults. An adaptive fault-tolerant control strategy is put forward to accommodate actuator faults. A dynamic variable is introduced into the event-triggered schedule to achieve dynamically regulated threshold parameters and the DETM is recursively established depending on the backstepping technique. The designed control law ensures that all signals of the system are uniformly bounded, and the tracking error converges to a compact set while avoiding Zeno behavior. An expository simulation example reveals the advantages of the presented method.