Fully distributed dynamic event-triggered control for multi-agent systems with input saturation and actuator failure

Abstract

This paper investigates the fully distributed dynamic event-triggered consensus problem for multi-agent systems with input saturation and actuator failure. Firstly, a distributed adaptive parameter is designed to estimate communication noise. Then, under the assumption that each agent is asymptotically null controllable with bounded controls, a low-gain state feedback control protocol is designed according to the algebraic Riccati equation. Furthermore, by introducing an internal dynamic variable, a novel fully distributed dynamic event-triggered control mechanism is proposed for multi-agent systems. Under this fully distributed dynamic event-triggered control mechanism, all agents of multi-agent systems can reach semi-global consensus and the Zeno behavior is excluded. Finally, a simulation example is presented to illustrate the effectiveness of the proposed algorithm.