Adaptive decentralized control for large-scale nonlinear systems with event-triggered mechanism and actuator failures

An adaptive event-triggered control scheme is presented for nonlinear interconnected systems in strict-feedback structure in the presence of infinite actuator faults. Based on event-triggered control algorithm, a decentralized adaptive backstepping control strategy is designed for large-scale systems with virtual control coefficients and unknown interactions among subsystems. When the relative threshold is exceeded, the control input will be updated by the triggering mechanism. The adaptive laws are given via backstepping control technique. The selection of virtual control coefficients will have a great influence on the performance of interconnected systems. All signals of the large-scale systems are semi-globally uniformly ultimately bounded and the tracking errors are ensured in a small scale of the origin, and Zeno behaviour is avoided. The effectiveness of the theoretical results is validated by some simulation results.