Adaptive fuzzy ABLF function fixed-time tracking control method for nonlinear fault-tolerant control systems with event triggering mechanism

As the nonlinearities of many real physical controlled systems become stronger and stronger, they are difficult to be described by accurate mathematical models. For a class of nonlinear single-input single-output systems with all-state constraints and actuator faults, an event-triggered adaptive fuzzy ABLF function fixed-time tracking control method is proposed. The asymmetric barrier Lyapunov function (ABLF) combined with backward step technique is used to ensure the boundedness of the closed-loop system output. In order to solve the problem of limited bandwidth resources, this paper adopts the event trigger mechanism and fuzzy control technology to approximate the unknown function to ensure the convergence of the system in a fixed time. After theoretical analysis, it is proved that the tracking error of the system converges in the small neighborhood of the origin, and it still has good tracking performance when the actuator faults. Finally, by comparing the proposed method with the asymmetric barrier Lyapunov function, which verifies the effectiveness of the proposed method.