Fully Distributed Event-Driven Coordination With Actuator Faults
研究了领导者-跟随者网络中执行器部分失效和偏置故障下的一般线性多智能体系统的事件驱动容错一致性问题，提出了完全分布式且不依赖全局信息的算法，并排除了Zeno行为。
This article investigates the event-driven fault-tolerance (ETFT) consensus problem for general linear multiagent systems (MASs) with partial loss of effectiveness (PLOE) and bias faults of actuators in leader-follower networks. Each agent's controller is only updated relatively infrequently at its event moments. A desirable feature of this article is that the proposed event-driven algorithm is fully distributed also independent of global information and additive fault boundaries. Based on this, a consensus error prediction model is used to avoid the limitation that each agent needs to monitor its neighbors' state under event-driven conditions continuously. We further excluded the Zeno behavior by proving that any adjacent event interval for each agent is greater than zero. The simulations verify our results.