Asynchronous adaptive event-triggered tracking control for multi-agent systems with stochastic actuator faults

Abstract

This paper investigates the problem of consensus tracking control for multi-agent systems with stochastic actuator faults, where the asynchronous adaptive event-triggered scheme (AETS) is proposed to reduce communication burden. The failure phenomenon for each actuator is described by an independent and identically distributed (i.i.d) random process. The communication information is divided two groups according to the scenario whether the followers can receive the information from the leader or not. Two adaptive event-triggered communication schemes are introduced based on the above classified information. Considering the stochastic actuator faults and the designed AETS, a new closed-loop fault-tolerant tracking control system model is established. Then, by employing the Lyapunov stability theory and stochastic analysis technique, a new fault-dependent stability criterion is derived, which ensures that the leader-following tracking error system is stochastically mean-square stable. Based on this criterion, the fault-tolerant consensus controller gains and the triggering parameters are obtained simultaneously by solving a linear matrix inequality (LMI). Moreover, the Zeno behavior of the AETS is excluded. Finally, a simulation example is included to illustrate the effectiveness of theoretical results.