Event-triggered fault-tolerant control and scheduling codesign for nonlinear networked control systems with medium-access constraint and packet disordering

This paper studies an event-triggered communication, scheduling, and fault-tolerant control codesign method for nonlinear networked control systems with medium-access constraint, delay, and packet disordering using an adaptive approximation method and adaptive technique. By considering nonlinear dynamics and controller reconfiguration, a novel event-triggering scheme with an adjustable triggering condition and adaptive triggering thresholds is proposed. The stochastic event-driven actuator scheduling is investigated without the assumption that the controller can access the current modes of the actuators. By considering the Markovian delay and focusing on the transmitter node, a new packet reordering approach is used to cope with packet disordering. This paper proposes an active fault-tolerant control method, in which the nominal controller is redesigned for the postfault plant by using the fault information provided by an estimator. It is proven that the estimation error of the estimator is uniformly bounded, the reconfigurable controller and event-trigger ensure the boundedness in probability of the state tracking error before and after the fault occurrence in the presence of medium-access constraint, delay, and packet disordering while reducing communication load. The effectiveness of the proposed method is demonstrated in the numerical example.