Robust Adaptive Event-Triggered Fault-Tolerant Consensus Control of Multiagent Systems With a Positive Minimum Interevent Time

Abstract

The distributed fault-tolerant (FT) consensus control problem of linear multiagents with disturbances is considered in this article. For undirected graphs, first, by introducing adaptive control coefficients, multiagent reliable control can be carried out fully distributed, removing the assumption that global information should be known prior. Furthermore, different from existing consensus FT studies, the limitation of continuous communication among agents is removed by developing an open-loop estimation and event-triggering mechanism (ETM). Particularly, distinct from some dwell-time methods that enforce an interevent time greater than zero at the expense of asymptotic stability, by introducing timer variables, positive interevent time and asymptotic stability can be guaranteed simultaneously by the proposed ETM in the absence of disturbances. Furthermore, a minimum positive trigger interval can be maintained for each agent even in the presence of disturbances, indicating the robustness of the event-triggered strategy. It is demonstrated that the suggested event-triggered control method performs reliable disturbance suppression for all agents in a completely distributed way with intermittent communication while excluding the Zeno behavior. Moreover, we try to generalize our results to directed strong connectivity. Finally, simulation examples are carried out to illustrate the efficacy of the suggested scheme.