Event‐Triggered Adaptive Fuzzy Control Strategy for Full‐State‐Constrained Nonlinear Systems: A Command‐Filtered Fault‐Tolerant Technology

This paper proposes an adaptive fuzzy fault‐tolerant tracking strategy for uncertain nonlinear systems subject to full‐state constraints and potential faults in sensors and actuators. To address the problems caused by full‐state constraints, a barrier function is employed as an analytical tool to ensure that the system's state remains within a safe operational range. Meanwhile, the combined use of parameter separation and multi‐adaptive law techniques effectively minimizes the influence of faults on system performance. Additionally, a finite‐time command filter with error‐compensation signals is embedded to prevent explosion of complexity. To further alleviate the communication load, an event‐triggered fault‐tolerant controller is designed, effectively avoiding Zeno behavior. The design of this controller ensures that all signals in the system remain bounded and enables the output signal to track the reference signal within a predetermined error range. In the end, the validity of the proposed strategy is confirmed by simulation results.