Adaptive Dynamic Event-Triggered Fault Tolerant Control for Uncertain Strict-Feedback Nonlinear Systems

This paper proposes an observer-based dynamic event-triggered adaptive control approach for uncertain nonlinear strict-feedback systems. Initially, an observer for unmeasurable states is constructed. Subsequently, employing backstepping technique, the output-feedback adaptive control law and parameter adaptive law are developed. The tuning function method is used to avoid the over-parameterization problem in parameter adaptive law design. To lower the data exchange rate within the network, a dynamic event-triggered scheme is formulated to allow real-time update control signal. Through Lyapunov theory analysis, the resulting closed-loop system is demonstrated to be stabilized, and the occurrence of Zeno behavior is effectively prevented. Finally, the simulation example validates the obtained result of the presented design approach.