Finite-Frequency Fault Estimation and Adaptive Event-Triggered Fault-Tolerant Consensus for LPV Multiagent Systems
针对线性参数变化多智能体系统，提出有限频故障估计器和自适应事件触发容错一致性控制器，在故障下实现一致性并减少通信，通过线性矩阵不等式给出设计条件。
This article investigates the problem of finite-frequency fault estimation (FE) and adaptive event-triggered fault-tolerant consensus for linear parameter-varying multiagent systems. A polytopic parameter-varying framework is introduced to represent the dynamics of each agent with internal model perturbation and parameter uncertainties. In order to reduce the conservatism brought by full-frequency domain approaches, the finite-frequency technique is employed to design a FE observer that can estimate the magnitude of faults. To eliminate/reduce the impact of faults on system performance, an adaptive event-triggered fault-tolerant consensus controller is then developed, which adjusts the consensus protocol based on the FE information. With the developed distributed fault-tolerant protocol and adaptive event-triggered control scheme, the agents can reach consensus in the presence of system faults and the transmission of unnecessary information in the control channels is avoided. The proposed triggering scheme offers certain advantages over existing results in balancing desired consensus performance and improving network utilization. By constructing a parameter-dependent Lyapunov function, a sufficient condition for designing the consensus controller gain and the adjustment matrix can be derived in the form of linear matrix inequality. Finally, two simulation examples are included to illustrate the effectiveness of the obtained theoretical results.