一类带有未知控制方向的非线性系统的模糊自适应事件触发容错控制

针对带有未知控制方向、未知非线性函数以及执行器故障的不确定非线性系统，研究了相应的模糊自适应事件触发容错控制问题。首先，运用反步法和模糊逻辑系统 (FLS) 理论知识相结合，构造出自适应事件触发容错控制器和自适应更新律，有效地补偿了执行器故障对系统的影响。其次，在自适应事件触发容错控制器的设计中引入了 Nussbaum 函数。最后，所设计的控制方案保证了闭环信号在给定紧集内一致最终有界，且仿真结果验证了本文所提出的控制方案的有效性。

Fuzzy Adaptive Event-triggered Fault-tolerant Control for a Class of Nonlinear Systems with Unknown Control Directions

The problem of fuzzy adaptive event-triggered fault-tolerant control is developed for uncertain nonlinear systems with unknown control directions, unknown nonlinear functions and actuator faults. Firstly, the adaptive event-triggered fault-tolerant controller and the adaptive laws are constructed by combining the backstepping method and theoretical knowledge about fuzzy logic system, which can effectively compensate the influence of actuator faults on the system. Secondly, the Nussbaum function is introduced into the design of the adaptive event-triggered fault-tolerant controller. Finally, the control scheme is designed to ensure that the closed-loop signal is uniformly and ultimately bounded within a given compact set, and the effectiveness of the proposed control scheme is verified through simulation results.