Adaptive Fault-Tolerant Tracking Control of Uncertain Nonlinear Systems with Event-Triggered Inputs and Full State Constraints

This paper is dedicated to the problem of adaptive fault-tolerant tracking control for uncertain nonlinear systems with event-triggered inputs and full state constraints. Based on tuning function method, the effect of actuator faults and parameter uncertainties can be eliminated by designing adaptive updating laws. The barrier Lyapunov functions (BLFs) with lower bounds of unknown coefficients are constructed to ensure that all states of the systems are not violating the constraints. In addition, to reduce the communication burden from the controller to the actuator, an adaptive event-triggered controller is designed based on adaptive backstepping technique. It shows that all signals of the closed-loop system are bounded, and the tracking error of the system asymptotic converges to zero. Finally, two simulation examples are given to testify the effectiveness of the proposed method.