Event-Based Adaptive Control for High-Order Nonlinear Systems With Actuator Failures and Unknown Control Directions

This article addresses event-based adaptive control problems of a class of high-order nonlinear systems subject to unknown actuator failures. The number of failures and the specific failure modes are unknown. In order to save communication resources from the controller to the actuator, its event-trigger mechanism that ruled out Zeno phenomenon is proposed. Since the direction of system control is unknown, we develop a novel logic switching mechanism. Therefore, an adaptive switching controller is proposed, and the switching parameters in the controller can make timely updates based on the designed switching condition judgment. At the same time, to solve the measurement error caused by actuator failure and event-trigger mechanism, the control protocol is proposed, which ensures that the state of the system eventually converges to the origin and the global asymptotically stability can be achieved. Finally, the effectiveness of the proposed control design is verified by simulation of a simple system.