Robust Adaptive Event-Triggered Fault-Tolerant Consensus Control of Multiagent Systems With a Positive Minimum Interevent Time
研究了线性多智能体系统在扰动下的分布式容错一致性控制问题，提出一种自适应事件触发机制，在保证渐近稳定性的同时确保正的最小事件间隔时间，并排除Zeno行为。
The distributed fault-tolerant (FT) consensus control problem of linear multiagents with disturbances is considered in this article. For undirected graphs, first, by introducing adaptive control coefficients, multiagent reliable control can be carried out fully distributed, removing the assumption that global information should be known prior. Furthermore, different from existing consensus FT studies, the limitation of continuous communication among agents is removed by developing an open-loop estimation and event-triggering mechanism (ETM). Particularly, distinct from some dwell-time methods that enforce an interevent time greater than zero at the expense of asymptotic stability, by introducing timer variables, positive interevent time and asymptotic stability can be guaranteed simultaneously by the proposed ETM in the absence of disturbances. Furthermore, a minimum positive trigger interval can be maintained for each agent even in the presence of disturbances, indicating the robustness of the event-triggered strategy. It is demonstrated that the suggested event-triggered control method performs reliable disturbance suppression for all agents in a completely distributed way with intermittent communication while excluding the Zeno behavior. Moreover, we try to generalize our results to directed strong connectivity. Finally, simulation examples are carried out to illustrate the efficacy of the suggested scheme.