In this paper, the tracking problem for four wheel independent actuated (FWIA) electric vehicles (EV) system with motor actuator fault and unmatched disturbance is investigated. An adaptive fast sliding mode fault tolerant control (AFSMFTC) scheme is proposed. First of all, a composite observer is designed to estimate the state and disturbance simultaneously; by introducing an updating law, the fault efficiency factor is reconstructed at the same time. Then, in accordance with the estimation information, an AFSMFTS strategy is proposed based on the error and error difference of the tracking information. The AFSMFTC, which includes two adaptive control laws, can realize a self-adapting adjustment to the controller parameters, such that a faster convergence is guaranteed. Furthermore, the estimated disturbance value is utilised to design the sliding mode controller in order to improve the robustness of the tracking performance. Finally, two fault cases are given to illustrate the effectiveness of the proposed method.

In this paper, we focus on the issue of adaptive fuzzy finite-time tracking control for a class of uncertain fractional-order nonlinear systems with external disturbance. A new finite-time fractional-order command filtered implementation scheme is presented for the adaptive backstepping method. In the command filtered implementation approach, analytical computation of the fractional derivatives of the stabilizing functions is not necessary. Therefore, the controller and adaptive law of the systems are easier to derive and implement. Based on the proposed command filter, adaptive backstepping technique and fractional Lyapunov’s direct method, a novel adaptive fuzzy finite-time controller is designed, which can guarantee that the tracking error converges to a small neighborhood of the origin in finite time, and other signals of the closed-loop systems are semi-global uniform ultimate bounded. In the design process of the controller, fuzzy logic systems (FLSs) are employed to approximate the unknown nonlinear functions, and an auxiliary function is adopted to compensate for the unknown external disturbance and approximation errors of FLSs. Finally, a simulation example is given to show the effectiveness and availability of the proposed control strategy.

In this paper, a novel two-channel event triggered adaptive fault-tolerant control approach is designed to handling the degree freedom nonlinear system with disturbance. The main purpose of this study is to maintain the output tracking ability while reducing the transmission burden. The objective is realized by designing a novel adaptive sliding mode controller integrated with the event trigger mechanism. Concretely, the state, actuator fault, and lumped disturbance information are obtained by designing a composite observer, in which the disturbance upper bound is not needed. Then, the obtained information is utilized to design the controller. In the proposed method, the lumped disturbance and nonlinear estimated values are contained in the sliding mode manifold to enhance the robustness. Additionally, an adaptive parameter is also integrated into the controller to compensate for the disturbance. Furthermore, a specific event triggered controller is proposed to keep the tracking ability and reduce the transmission load of the fault system. The no Zeno phenomenon performance is analyzed and, finally, the application to the suspension system is given to show the fault tolerance ability of the proposed method.