LAUSR

ABSTRACT This paper investigates the trajectory tracking problem for large-scale nonlinear systems in lower triangular form by employing the technology of static gain. For one thing, in the interest of improving the fault tolerance of the concerned system, a novel adaptive compensation method is considered in the tracking strategy for dealing with actuator failures. For another, in order to alleviate the communication burden and maintain satisfactory systems performance, the control method for handling event-triggered input is also added in the tracking strategy. Besides, this paper also proves that the designed strategy can achieve the control goal for large-scale nonlinear systems with bounded disturbance. The simulation example of the machine feed system is given to verify the validity of the proposed strategy.