Decentralized Output-Feedback Adaptive Event-Triggered Control for Interconnected Nonlinear Delay Systems with Actuator Failures

This paper investigates decentralized adaptive event-triggered fault-tolerant control for interconnected nonlinear delay systems with actuator failures. The actuator failures suffered include loss of effectiveness and bias faults. A control scheme based on the K-filter is proposed, which effectively compensates for the effects of unknown actuator failures. A hyperbolic tangent function and neural network are introduced to approximate the unknown interconnection function and nonlinear delay function. By introducing the dynamic surface control method, the “explosion of complexity” issue is addressed. Furthermore, our proposed controller can ensure that all states of the corresponding closed-loop system are semi-globally uniformly ultimately bounded and that the tracking error can converge to a small neighborhood of zero. Meanwhile, Zeno behavior can be effectively avoided. Finally, the validity of the proposed control scheme is verified using a simulation example.