Output-Based Decentralized Adaptive Event-Triggered Control of Interconnected Systems With Sensor/Actuator Failures

This article presents a double-channel (sensor-to-controller channel and controller-to-actuator channel) event triggered control method for nonlinear interconnected systems subject to sensor and actuator faults via the backstepping technique. It should be emphasized that the utilization of triggering mechanism at the sensor side poses a challenge to the design of backstepping control, as it leads to nondifferentiable virtual control signals due to the discontinuous nature of the state/output signals received at the controller side. In contrast to existing methods, the proposed event triggering mechanism eliminates the need for computing virtual control signals at the sensor side before transmitting them to the controller side. By establishing the relationships of the corresponding variables in two communication scenarios (namely, without and with event triggering) and introducing dynamic filtering technique, the problem of nondifferentiable virtual control signals in backstepping design is solved. We present a numerical case study to validate the effectiveness and advantages of the proposed decentralized event triggered control approach.