Event-triggered Fuzzy Adaptive Fault-Tolerant Control of High-Order Nonlinear Systems: A Fully Actuated System Approach

In this paper, an event-triggered adaptive tracking control issue is discussed for a class of high-order nonlinear strict-feedback system (SFS). The systems considered involve non-affine nonlinear faults as well as external disturbances. The proposed approach incorporates fuzzy logic systems to handle the unknown nonlinear functions in this system. Additionally, an event-triggered control method is developed using the backstepping technique to conserve network resources. Leveraging the theories of high-order fully actuated (HOFA) systems, dynamic surface control, and event-triggered control, novel adaptive fuzzy fault-tolerant tracking controllers are directly constructed. Importantly, there is no need to convert the high-order system into a first-order one. Theoretical analysis and Lyapunov function theory guarantee the stability of the closed-loop system, ensuring the convergence of the tracking error to a compact neighborhood around zero. The feasibility and effectiveness of the proposed control approach are demonstrated through a simulation example.