Event-Triggered Adaptive Fault-Tolerant Control for Unknown Nonlinear Systems With Applications to Linear Motor

Abstract

This article presents an event-triggered adaptive asymptotic tracking control method based on the low-complexity design architecture to reduce the communication and computational resources of uncertain nonlinear systems with unknown control directions and actuator faults. By utilizing a systematic codesign of backstepping and an event-triggered mechanism, the proposed adaptive fault-tolerant control method exploits only error transformation variables associated with prescribed performance specifications, without the use of any compensators or approximation structures to handle unknown nonlinearities and actuator and component faults. This design provides a robust method, through which the controller can effectively address external disturbances, unknown system uncertainties, and actuator and component faults, while eliminating the explosion of complexity problem in backstepping. Asymptotic stability analysis of the closed-loop system is conducted, and the Zeno behavior is avoided. The effectiveness of the proposed approach is illustrated through applications to linear motor systems.