Event-triggered fault-compensation-based fuzzy finite-time FTC for MIMO switched nonlinear systems

Abstract

This paper is devoted to solving the finite-time fault-tolerant tracking control problem based on event-triggered control (ETC) strategy for multi-input-multi-output (MIMO) switched nonlinear systems, which are simultaneously subject to unknown sensor and actuator faults. A switched state observer with fault estimation is designed to compensate unknown sensor fault parameter and unavailable states online, while fuzzy logic systems (FLSs) are employed to identify the uncertainties. The shortcoming of “explosion of complexity” is mitigated by fusing backstepping control and command filter. To trade off the communication resources and the system performance, a event-triggered finite-time fault-tolerant control (FTC) scheme with adaptive parameter compensation mechanism is developed, which can alleviate the impact of actuator and sensor faults by designing different parameter adaptive laws, and ensures all signals are semiglobal practical finite-time stable (SGPFS). Furthermore, a mass spring damper system is applied to verify the performance of the proposed control method.