Event-triggered adaptive fault-tolerant attitude synchronization and tracking control of multiple rigid bodies with finite-time convergence

Abstract

This study investigates finite-time attitude synchronization and tracking control of multiple rigid bodies under event-triggered control strategy in presence of actuator faults and an external disturbance. The event-triggered implementation technique aims to reduce resource utilization in regard to control effort and communication burden. To achieve this aim, the adaptive sliding mode structure is used, and a novel triggering condition is proposed. In presence of unknown actuator faults and external disturbance, it is shown that the multiple rigid bodies track a time-varying attitude of a virtual leader synchronously in finite time under limited data communication. Moreover, a lower bound on the inter-event times has been derived to ensure that the Zeno behavior is avoided. The effectiveness of the proposed method is validated by numerical simulation along with comparison with another relevant research.