Adaptive finite-time event-triggered control for uncertain nonlinearly parameterized systems with unknown control direction and actuator failures

In this article, the issue of adaptive finite-time event-triggered tracking control is inves-tigated for nonlinearly parameterized systems with unknown faults and unknown control gain. By establishing the proper parameter adaptive laws with the intermediate variable, the problem of system instability caused by the uncertainty of the parametric system and the unknown faults of the actuator can be effectively handled. Simultaneously, the un-known nonlinear term denotes the bias fault is approximated by the fuzzy logic systems (FLSs). Accordingly, an improved event-triggered controller with a varying threshold strat-egy is developed to rule out the Zeno phenomenon and demonstrate that all the signals in the closed-loop system are semi-globally practically finite-time stable (SGPFS). Finally, a simulation result of the manipulator system is carried out to validate the proposed control scheme.(c) 2022 Elsevier Inc. All rights reserved.