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Adaptive Asymptotic Tracking Fault-tolerant Control of Uncertain Nonlinear Systems with Actuator Failures and Event-triggered Inputs

Yan Yan, Libing Wu*, Nannan Zhao, and Ruiyan Zhang
International Journal of Control, Automation, and Systems, vol. 19, no. 3, pp.1241-1251, 2021

Abstract : This paper is concerned with the problem of adaptive asymptotic tracking fault-tolerant control (FTC) for uncertain nonlinear systems with actuator faults and event-triggered inputs. Firstly, fault-tolerant controller is designed to effectively compensate the unknown actuator failures by constructing the proper parameter updated laws. Then, the event-triggered strategy based on the relative threshold method is applied to the proposed adaptive fault-tolerant controller. Furthermore, it is proved that all the closed-loop signals are uniformly bounded and the tracking error can asymptotically converge to zero. Finally, the simulation results are given to demonstrate the effectiveness of the presented control scheme.

Keyword : Adaptive control, asymptotic tracking, event-triggered control, fault-tolerant control, nonlinear systems.

 
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