Fractional-Order Dynamic Event-Triggered-Based Adaptive Fuzzy Predefined-Time Consensus Tracking Control for Euler–Lagrange Systems with Actuator Faults

This paper investigates the predefined-time leader–follower consensus tracking problem for multiple Euler–Lagrange systems subject to actuator faults under a fractional-order dynamic event-triggered framework. First, to guarantee the convergence-time requirement, nonsingular predefined-time terms are embedded into the backstepping design, such that the consensus tracking errors can enter a small residual set within a predefined time. Then, a fractional-order dynamic event-triggered mechanism is introduced to determine the update instants of the sampled actuator input, in which the fractional-order auxiliary variable is used to incorporate historical triggering information into the threshold dynamics. Moreover, adaptive laws and fuzzy logic systems (FLSs) are employed to compensate for actuator faults and model uncertainties. Furthermore, based on predefined-time Lyapunov analysis, it is proved that all closed-loop signals are bounded and predefined-time consensus tracking performance is achieved. Finally, simulation results verify the effectiveness of the proposed method.