Adaptive Self-Triggered Fault-Tolerant Control for Nonlinear Systems With Input Dead Zone: A Funnel Function Method

Abstract

In this article, a novel adaptive self-triggered controller is constructed to handle the fault-tolerant control problem for nonlinear system with input dead zone through a funnel function method: 1) the actuator failure and the dead-zone nonlinearity are fully analyzed for the modeling purpose, we transform the system into a new model; 2) the self-triggered scheme is set up to update the control signals, which effectively economizes communication resources; 3) due to the existence of unknown control gains and unknown nonlinear functions, the adaptive neural network funnel controllers are designed, such that the tracking error is confined within the funnel boundary and all the signals of the closed-loop system are semi-globally uniformly ultimately bounded; and 4) finally, the applicability of the acquired control algorithm is demonstrated via a rigid robot manipulator system.