An adaptive event-driven fault-tolerant consensus proposed for decentralized multiple AUVs with actuator multiplicative faults

Abstract

The present paper studies a distributed leaderless multi-autonomous underwater vehicle (AUV) system under a heterogeneous topology network where multiplicative faults and input saturation affect actuators, and the actuator fault severity could not be equal in each AUV. For this system, an adaptive event-driven fault-tolerant consensus control protocol is proposed. The present paper also introduces adaptive parameters in the trigger function to improve the self-regulation capability of the event-driven mechanism system. The proposed fully distributed event-driven fault-tolerant consensus strategy depends on the adaptive coupling gain of the system, and it eliminates the global information restriction. It was found that the designed event-driven controller has a good fault tolerance effect on multiplicative faults of actuators. The states of the multi-AUV system could asymptotically converge to the same conditions without Zeno behavior. Finally, the Lyapunov functional method proves the system's astringency and stability, and the numerical simulation presents the strategy's effectiveness.