Multichannel Asynchronous Triggering-Based Adaptive Output Feedback Control for Uncertain Nonlinear Systems with Actuator Faults

In this paper, an adaptive event-triggered output feedback FTC scheme is proposed for a class of uncertain nonlinear systems with unknown actuator faults. Multiple channels, including the state estimation filter-to-controller channel, the parameter estimator-to-controller channel and the controller-to-actuator channel, are all event-triggered. Meanwhile, by designing a series of uncorrelated triggering conditions, the triggering of different channels is independent and asynchronous. Therefore, the communication and computation burden of the system can be released. Meanwhile, the signal transmission frequency of each channel can be adjusted independently. It is proved that, with our proposed control scheme, all the closed-loop signals are bounded and the output tracking error converges into an adjustable residual set. Also, the Zeno behavior can be excluded. Finally, the scheme is applied to a robot manipulator and the simulation results illustrate the effectiveness of the proposed control scheme.