Robust Finite-Time Contractive Fault Tolerant Control of Uncertain Nonlinear Network-Based Systems with Adaptive Event-Triggered Communication Scheme

In this paper, robust finite-time contractive fault tolerant control (FTC) problem is addressed for uncertain Lipschitz nonlinear networked control systems (NCSs). In order to transmit the sampled data into communication network, the adaptive event-triggered communication scheme is used, which efficiently reduces the utilization of network resources and excludes Zeno behavior. By employing the Lyapunov–Krasovskii (L–K) functional method, some sufficient delay-dependent conditions are established in the form of linear matrix inequalities (LMIs), which include the information of the upper and lower bounds of variable transmission delay and reduce the conservatism of designing procedure. Then, based on the derived conditions, the corresponding state feedback controller is designed to guarantee that the closed-loop NCS is robust Finite-Time Contractive Stable (FTCS) in the presence of fault and the state trajectories of the system remain within a prescribed bound during a specified time interval, which is smaller than the initial state bound. Furthermore, under external disturbance, the H _∞ performance index is satisfied. Finally, we study the single-link manipulator example to confirm the validity of the presented theoretical results.