Integral-based event-triggered fault estimation and impulsive fault-tolerant control for networked control systems applied to underwater vehicles

Abstract This article considers the fault estimation and impulsive fault-tolerant control for networked control systems (NCSs) with via integral-based event-triggered mechanism (IETM). According to a novel IETM, a fault and state estimation observer is established as a distributed delay model. To enhance the reliability and safety of actuator fault model, an impulsive fault tolerant controller is designed to compensate the impact of actuator faults and to estimate faults online. Moreover, based on augmented Lyapunov- Kroasovskii functional (LKF), sufficient conditions to determine the global asymptotical stability for the estimation error system are presented. Furthermore, this fault estimation method based on integral-based event-triggered scheme (IETS) is applied to the underwater vehicle heading control system. The designed fault-tolerant control approach solves the problem of the actuator failure of the nonlinear underwater vehicle heading control system. Finally, numerical examples are further provided to verify the effectiveness and advantages of the proposed approach.