Adaptive finite‐time event‐triggered control for uncertain nonlinearly parameterized systems with unknown control direction and actuator failures

Highlights：

• The nonlinear parametric system proposed in this paper is more general than the relevant literature, since the unknown external disturbances, uncertain system parameters, unknown control gain and unpredictable actuator faults are considered in this work simultaneously. The parameter updated laws are designed to estimate the unknown control gain and uncertain system parameters. Moreover, the FLSs are introduced to approximate the uncertain bias fault, which can compensate for the faults in a wider range, with better accuracy.

• In the design of the ETC scheme, compared with the existing literature, the intermediate variable is introduced to embed the ETC signal into the actuator fault model and the adaptive control laws to further effectively eliminate the redundant items and avoid the tedious.

摘要

•Compared with the similar non-finite time control methods in the relevant literature, the finite-time adaptive controller designed in this paper has the merits that it can and enhance the transient performance of the entire control system and avoid the ISS assumption.•The nonlinear parametric system proposed in this paper is more general than the relevant literature, since the unknown external disturbances, uncertain system parameters, unknown control gain and unpredictable actuator faults are considered in this work simultaneously. The parameter updated laws are designed to estimate the unknown control gain and uncertain system parameters. Moreover, the FLSs are introduced to approximate the uncertain bias fault, which can compensate for the faults in a wider range, with better accuracy.•In the design of the ETC scheme, compared with the existing literature, the intermediate variable is introduced to embed the ETC signal into the actuator fault model and the adaptive control laws to further effectively eliminate the redundant items and avoid the tedious.