Abstract
Event-triggered consensus in leader-following multi-agent systems with actuator fault is considered in this paper, in which the fault investigated can be multiplicative fault and outage fault. An event-triggered mechanism is utilized to relieve the communication burden of the interconnected system. Then, control allocation is proposed to solve actuator fault in the multi-agent systems for the first time. Compared with the existing fault-tolerant methods, the proposed method can guarantee that the consensus errors converge to zero asymptotically without the traditional rank assumption. Meanwhile, the Zeno behavior of the event-triggered system is proved to be avoided. Simulation results are also provided to verify the effectiveness of the proposed method.
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This work was supported by the National Key Research and Development Program of China (Grant No. 2018YFB1307803), and the National Natural Science Foundation of China (Grant No. 61973175).
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Wang, X., Liu, Z. & Chen, Z. Event-triggered fault-tolerant consensus control with control allocation in leader-following multi-agent systems. Sci. China Technol. Sci. 64, 879–889 (2021). https://doi.org/10.1007/s11431-020-1686-5
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DOI: https://doi.org/10.1007/s11431-020-1686-5