Finite-time adaptive event-triggered fault-tolerant control of nonlinear systems based on fuzzy observer

Abstract

This paper addresses the adaptive event-triggered tracking control problem for a class of uncertain nonlinear systems with actuator failures and disturbances. By designing a fuzzy observer to estimate the unmeasurable states, a novel event-triggered adaptive fuzzy control scheme with a sign function is proposed. Unlike the existing methods, the event-triggered controller with a parameter-updated law containing only one online modulated variable can dynamically compensate for the approximation error caused at each step. The proposed control strategy guarantees that all the signals of the closed-loop systems are bounded, and that the tracking errors can be regulated to a compact set around the origin in finite-time without Zeno behavior. Finally, a numerical example and a practical example validate the effectiveness of the designed scheme.