Dynamic event‐triggered‐based decentralized fault‐tolerant control for interconnected nonlinear time‐delay systems with unknown control directions

Abstract

The dynamic event‐triggered decentralized adaptive fault‐tolerant control strategy is designed for nonlinear interconnected systems with time delay and unknown control directions. The dynamic event‐triggered control scheme where the threshold parameters related to measurement errors are dynamically adjusted by introducing adaptive laws into the control law appropriately increases the time interval for controller update. Then, the Nussbaum function and linear transformation are employed to handle the coupling problem caused by actuator faults and unknown control directions. Meanwhile, the Lyapunov–Krasovskii function is utilized to compensate the effect of time delay and guarantees that all closed‐loop signals are bounded. The errors converge into bounded compact sets around the origin. The validity of the presented scheme is verified via a simulation example.