Event-triggered adaptive fault-tolerant control of uncertain non-affine systems with predefined performance

• Published in: Journal of the Franklin Institute Vol. 359; no. 18; pp. 10525 - 10557
• Main Authors: Yang, Yang, Zhang, Yuwei, Si, Xuefeng, Ge, Hui, Ge, Yuan, Wu, Defeng, Hou, Xiaolei
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.12.2022
• ISSN: 0016-0032; 1879-2693
• DOI: 10.1016/j.jfranklin.2022.10.018

This paper is concerned with an event-triggered adaptive fault-tolerant problem for an uncertain non-affine system. The implicit function theorem and mean value theorem are utilized to transform a non-affine system into an affine one, and an extended state observer and a tracking differentiator are used to estimate unknown dynamics and the derivative of virtual control laws, respectively. Adaptive laws are designed for unknown faults, and an event-triggered control scheme with a time-varying threshold, based on a tracking error and adaptive parameters, is developed. The tracking error is steered to converge to a bounded set with the help of a predefined performance function, and its transient performance is improved despite of faults. The stability of the closed-loop system is analyzed by the theorem of the input-to-state practically stability, and the Zeno behavior is excluded. Finally, two examples are given to illustrate the effectiveness of the proposed scheme.