Distributed Bipartite Adaptive Event-Triggered Fault-Tolerant Consensus Tracking for Linear Multiagent Systems Under Actuator Faults
针对执行器故障的线性多智能体系统，提出一种基于输出反馈的分布式二分自适应事件触发容错控制策略，实现间歇通信和控制器更新，并避免Zeno行为。
This article considers the distributed bipartite adaptive event-triggered fault-tolerant consensus tracking issue for linear multiagent systems in the presence of actuator faults based on the output feedback control protocol. Both time-varying additive and multiplicative actuator faults are taken into account in the meantime. And the upper/lower bounds of actuator faults are not required to be known. First, the state observer is designed to settle the occurrence of unmeasurable system states. Two kinds of event-triggered mechanisms are then developed to schedule the interagent communication and controller updates. Next, with the developed event-triggered mechanisms, a novel observer-based bipartite adaptive control strategy is proposed such that the fault-tolerant control problem can be addressed. Compared with some related works on this topic, our control scheme can achieve the intermittent communication and intermittent controller updates, and the more general actuator faults and network topology are considered. It is proved that the exclusion of Zeno behavior can be realized. Finally, three illustrative examples are given to demonstrate the feasibility of the main theoretical findings.