The issue of fault-tolerant cooperative output regulation (COR) for nonlinear uncertain multiagent systems (MASs) under communication link faults (LFs) and actuator faults is investigated in this paper. This is the first attempt to study the fault-tolerant COR problem for the aforementioned MASs under directed graphs. To handle unknown LFs and avoid using global information, adaptive event-triggered (ET) observers are designed to estimate the exosystem state. That is, resilience against communication LFs is translated to distributed observer design. To overcome the “explosion of complexity” and obtain asymptotically stable results, dynamic surface control (DSC) techniques are introduced. Unlike existing linear DSC techniques that generate boundary layer errors, this paper introduces nonlinear filters with compensation terms into dynamic surfaces to eliminate boundary layer errors. Adaptive control laws that can achieve asymptotically regulated output are then developed based on the improved DSC techniques. It is shown that the developed control strategy can achieve fault-tolerant COR for the considered MASs. Additionally, the implemented dynamic event-triggered mechanism (ETM) ensures strictly positive minimum event-triggered intervals (ETIs) and avoids Zeno behavior. Finally, a practical simulation example reveals the effectiveness of the suggested scheme.
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