Command filter-based adaptive fuzzy switching event-triggered control for non-affine nonlinear systems with actuator faults

Abstract

This paper considers a problem of command filter-based adaptive fuzzy switching event-triggered control for non-affine nonlinear systems with actuator faults. First, a state observer is given to estimate unmeasurable state. Secondly, an error transformation equation is designed to constrain output tracking error, and the feasibility condition of tracking error is not required. Then, a finite time fault-tolerant control scheme is constructed based on command filter and backstepping technologies, which can compensate completely the effects of actuator faults and trigger errors, and there is no differential explosion, singularity phenomenon and Zeno behavior. Besides, a switching event-triggered algorithm is designed to reduce the triggering number under the premise of ensuring the tracking performance. Finally, the proposed algorithm is applied to an one-link manipulator to verify the availability.