Distributed Adaptive Event-Triggered Fault-Tolerant Consensus of Multiagent Systems With General Linear Dynamics
针对带有乘性故障的一般线性多智能体系统，设计了一种分布式自适应事件触发容错一致性协议，避免了拉普拉斯矩阵最小特征值的计算，并扩展到执行器饱和情况，仿真验证了有效性。
In this paper, the distributed adaptive event-triggered fault-tolerant consensus of general linear multiagent systems (MASs) is considered. First, in order to deal with multiplicative fault, a distributed event-triggered consensus protocol is designed. Using distributed adaptive online updating strategies, the computation of the minimum eigenvalue of Laplacian matrix is avoided. Second, some adaptive parameters are introduced in trigger function to improve the self-regulation ability of event-triggered mechanism. The new trigger threshold is both state-dependent and time-dependent, which is independent of the number of agents. Then sufficient conditions are derived to guarantee the leaderless and leader-following consensus. On the basis of this, the results are extended to the case of actuator saturation. It is proved the Zeno-behavior of considered event-triggered mechanism is avoided. At last, the effectiveness of the proposed methods are demonstrated by three simulation examples.