State estimation and sliding-mode fault-tolerant control of a class of nonlinear systems with actuator faults under the event-triggered mechanism

Abstract

The current work is an analytical study of the problem of state estimation and fault-tolerant control (FTC) based on dynamic event triggered mechanism (ETM) in the event of actuator fault for a class of nonlinear systems in a network environment. First, a state estimator module is designed in conjunction with the designed dynamic ETM, and an integral sliding surface (SS) is designed in the estimation space to obtain a variable time delay system after augmenting the system by combining the state estimator module and the SS. Second, the sufficient conditions that can make the augmented system stable under the ETM with H∞ performance index are obtained by the Lyapunov–Krasovskii function. The sufficient conditions are decoupled after the design of the sliding mode control (SMC) law that can stabilize the system, and the calculation of the state estimation gain matrix and the SMC gain matrix are obtained. Finally, the effectiveness of the method proposed in this study is verified with two simulation comparison experiments.