Prescribed performance event-triggered fault-tolerant control of uncertain pure-feedback nonlinear systems

The prescribed performance event-triggered fault-tolerant control (FTC) problem is considered for a class of uncertain pure-feedback nonlinear systems with actuator failures. Contrary to the existing results, the novel decoupling condition and the universal construction mode of error transformation are first given. Based on this, a new radical constrained function is used to low-complexity controller design without involving the Nussbaum gain scheme or adaptation parameter updated structure, in spite of nonlinear coupling and event triggering input. It is proved that the desired prescribed accuracy of the closed-loop output tracking can be achieved and the number of event-trigger showed a significant reduction. The effectiveness of theory results is verified by simulation on a numerical example.