Decentralized Event-Triggered Fault-Tolerant Control for Switched Interconnected Nonlinear Systems With Input Saturation and Time-Varying Full-State Constraints

This paper presents a decentralized adaptive event-triggered fault-tolerant control (FTC) method for switched interconnected nonlinear systems with multiple unpredictable actuator faults, input saturation, and asymmetrical time-varying full-state constraints. Uncertain items and interconnected items are identified by a fuzzy logic system, and a state observer is designed to estimate the unavailable states. By integrating backstepping and command filtering technology, the shortcomings of computational explosion in traditional backstepping are solved. The barrier Lyapunov function (BLF) and the auxiliary system are designed to solve the full-state time-varying constraints and input saturation respectively. By adopting an event-triggered mechanism and estimating the boundaries of unknown fault parameters, an event-triggered FTC controller is designed to achieve the ability of flexibly coordinate control performance and communication burden, and compensate for unpredictable actuator failures. The scheme realizes the situation where arbitrary switching signals and states are unavailable, whether a fault occurs or not, all signals are bounded, and the input and state satisfy the constraints. Finally, the effectiveness of the proposed control method is verified by simulation example.