Adaptive fuzzy event-triggered fault-tolerant control for time-varying delay switched nonlinear systems with actuator and sensor failures

This article addresses the problem of adaptive fault-tolerant event-triggered control (ETC) for time-varying delay switched nonlinear systems (SNSs) with actuator and sensor failures. First, in order to address the unknown actuator failures, a fault compensation coefficient is introduced. Then, a mode-dependent state observer is established to estimate the unknown states. The unknown nonlinear function is approximated by the usage of fuzzy logic systems (FLS). In addition, the Lyapunov–Krasovskii functions are utilized to discuss the influence of time-varying delays. Then, an adaptive fuzzy fault-tolerant ETC and a novel event-triggering mechanism (ETM) are derived. It is proved that the proposed fault-tolerant controller can ensure that all states of the closed-loop system (CLS) are semi-globally uniformly ultimately bounded (SGUUB) by average dwell time (ADT) constraints and the Zeno phenomenon can be excluded. Results of two simulation examples verify that the proposed control method is effective.