Event-triggered adaptive control of a class of nonlinear systems with non-parametric uncertainty in the presence of actuator failures

Abstract

This paper deals with event-triggered adaptive tracking control of a class of nonlinear systems with non-parametric uncertainty and unknown control input direction, in the presence of actuator faults. The proposed event-triggered control method takes advantage of the radial basis function neural networks to approximate the non-parametric uncertainties. Moreover, this control method benefits from the Nussbaum-type function-based adaptation laws for simultaneously dealing with unknown input direction and actuator faults. Numerical simulation results confirm the efficiency of the proposed control method to confront the above mentioned limitations.