Event-driven-observer-based fuzzy fault-tolerant control for nonlinear system with actuator fault

In this study, a novel fuzzy logic-aided event-driven-observer-based fault-tolerant control approach is investigated for a class of nonlinear systems with time-varying actuator faults and unmatched disturbances. The considered actuator faults and disturbances are unknown. To achieve the control purpose, first, the fuzzy logic theory is used to approximate the nonlinear unknown functions. Then, a novel fuzzy-aided nonlinear observer is constructed to estimate the unmeasured states, actuator faults, and unmatched disturbances. Based on the observer outputs, a novel fault-tolerant controller is designed by utilizing the backstepping technique. Furthermore, an event-triggered control scheme is presented in the control channel to reduce the transmitted data, while the fault tolerance and disturbance rejection abilities can also be guaranteed. The Zeno phenomenon avoidance performance is verified, and finally, the application to a robotic tracking control system results shows the effectiveness of the presented control scheme.