Adaptive event-triggered fault-tolerant consensus of linear heterogeneous multiagent systems via hierarchical approach

Abstract

This article investigates the event-triggered fault-tolerant consensus problem for heterogeneous linear multiagent systems (MASs) with actuator failures. By introducing the hierarchical control scheme, a distributed adaptive event-triggered fault-tolerant control method is proposed. The upper layer and the lower layer comprise the hierarchical control structure. The upper layer is made up of a virtual reference system and a distributed cooperative controller with event-triggered mechanism, while the lower layer is composed of an actual system and a fault-tolerant tracking controller. The main contribution of this work is that the phenomena of fault propagation could be prevented employing presented control method when compared to the most commonly used distributed fault-tolerant control methods. And continuous transmission between agents can be eliminated due to the event-triggered mechanism. It is shown that the consensus error converges to zero asymptotically. Finally, the effectiveness of the theoretical result is illustrated by a simulation example.