Research on Fault Tolerance Consistency of Multi - Agent Based on Event Triggering Mechanism

Abstract

For the multi-agent system with directed topology, considering the possible actuator faults of any agent, the robust H ∞ fault-tolerant consensus controller design problem is studied when the system is disturbed by external finite energy. Firstly, a distributed event-triggered fault-tolerant consistency protocol is proposed, which is used to transform the fault-tolerant consistency of distributed multi-agent systems into the stability of time-delay systems. Secondly, by using Lyapunov stability theory, a sufficient condition for the fault-tolerant consensus of the multi-agent system is given for the actuator faults that may occur in any agent. A cooperative design method that saves network communication resources and realizes fault-tolerant consensus control is obtained, which makes all states of the fault multi-agent system asymptotically consistent and has a certain disturbance rejection performance. Finally, the feasibility and effectiveness of the proposed method are verified by simulation.