Event-Triggered Adaptive Finite-Time Control for MIMO Nonlinear Systems With Actuator Faults

This article presents a novel finite-time adaptive control scheme for uncertain multi-input multi-output nonlinear systems with actuator faults by virtue of event-triggered methods and prescribed performance control techniques. This approach provides superior transient and steady-state performance of the tracking error while guaranteeing stability for reducing the occupation of network resources. The measurable states are directly utilized for controller design, and a priori knowledge of system nonlinear functions is not required. Importantly, no complex approximation structure is utilized on the system dynamics, which increases robustness against uncertainties and actuator faults. The negative influences of unknown nonlinearities on the tracking performance are explicitly compensated by the proposed adaptive estimation algorithm. The closed-loop finite-time stability, including the avoidance of Zeno behavior for the event-triggered mechanism, is also analyzed by rigorous theoretical proofs. The application of the controller to practical linear motor systems demonstrates the applicability.