Dynamic event-triggered distributed guaranteed cost FTC scheme for nonlinear interconnected systems via ADP approach

A novel dynamic event-triggered distributed fault tolerant control (FTC) scheme with guaranteed cost is proposed for uncertain nonlinear interconnected systems suffering from time-varying actuator faults. The event-triggered FTC problem of uncertain interconnected system is first converted to a series of equivalent event-triggered optimal control designs of isolated fault-free auxiliary subsystems by defining a modified cost function for each auxiliary subsystem. The equivalence of problem transformation is demonstrated meanwhile the upper bound of cost function of overall interconnected system is analyzed. Subsequently, for the isolated auxiliary subsystem, a dynamic event-triggered adaptive dynamic programming (DET-ADP) algorithm is proposed to obtain the optimal control policy, which can remove the restriction of initial admissible control, eliminate the actor network, and save more communication resources. Furthermore, we prove that the closed-loop auxiliary subsystems are ensured to be uniform ultimate bounded based on Lyapunov approach. Finally, simulation results are presented to validate the developed dynamic event-triggered distributed guaranteed cost FTC scheme.