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<p>This paper is concerned with event-triggered fault-tolerant control of uncertain nonlinear systems with unknown actuator failures, where failure number of times is not limited to be finite. A constructive event-triggered control scheme is proposed to reduce the communication burden between controllers and actuators. The “complexity explosion” in the backstepping design framework is avoided by incorporating command filter techniques. Measurement errors and actuator faults are compensated by constructing an intermediate control law. Lyapunov stability analysis shows that all closed-loop signals are bounded, Zeno behavior is excluded. Finally, two simulation examples and hardware in the loop simulation demonstrate its effectiveness.</p>

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Event-triggered command filtered adaptive fault-tolerant control for an uncertain nonlinear system

  • 期刊论文

  • 发表日期：

    2026年4月2日

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  • Qingyu Su,
  • Shiqiang Niu,
  • Jian Li

摘要

This paper is concerned with event-triggered fault-tolerant control of uncertain nonlinear systems with unknown actuator failures, where failure number of times is not limited to be finite. A constructive event-triggered control scheme is proposed to reduce the communication burden between controllers and actuators. The “complexity explosion” in the backstepping design framework is avoided by incorporating command filter techniques. Measurement errors and actuator faults are compensated by constructing an intermediate control law. Lyapunov stability analysis shows that all closed-loop signals are bounded, Zeno behavior is excluded. Finally, two simulation examples and hardware in the loop simulation demonstrate its effectiveness.