Event-Triggered Adaptive Robust Fault-Tolerant Control for Interconnected Systems with Flexible Prescribed Performance

This paper focuses on investigating a class of event-triggered robust adaptive fault-tolerant control problems with flexible prescribed performance for nonlinear interconnected systems subject to unknown actuator faults. By integrating a twostep design approach into the controller development, the proposed method effectively compensates for the impacts of these unknown actuator faults. Additionally, in the design of the Lyapunov function, we incorporate the lower bounds of the unknown virtual control coefficient within the adaptive control strategy. This enhancement allows the controller to sufficiently counteract the effects stemming from unknown interconnection terms, uncertain virtual control coefficients, and various other nonlinear factors. Moreover, by incorporating a series of functional transformations into the controller design, we enable the achievement of flexible prescribed performance behaviors through adjustments of a limited number of key parameters and time-varying functions. Importantly, the overall controller design employs an event-triggered mechanism, allowing for updates in an aperiodic manner at each sampling event. This significantly conserves both computational and communication resources. Finally, the effectiveness of the proposed method is validated through simulation results, demonstrating its practical applicability and robustness.