Cooperative Fault-Tolerant Control for Heterogeneous Multiagent Systems: A Dual Dynamic Event-Triggered Approach
针对异构多智能体系统，提出一种双重动态事件触发控制框架，上层网络通过事件触发观测器重构领导者信息，下层物理层设计自适应容错控制器，减少控制器更新频率并避免故障传播。
This article focuses on the fully distributed dual-event triggered leader-following consensus problem of heterogeneous multiagent systems (MASs) with unknown leader input and actuator fault. A hierarchical triggered control framework is developed for the MASs. First, in the upper network layer, event-triggered observers are designed to reconstruct the leader’s information by using the states exchanged intermittently among the neighboring observers. Then, in the lower physical layer, an adaptive fault-tolerant controller is designed, whose update instant can be directly computed based on the received upper layer information. This not only has the potential to further reduce the update frequency of controller, but also avoid the continuous monitoring on measurement errors. Besides, utilizing this control framework can prevent the faults from being propagated along the communication network. Finally, a numerical example is provided to verify the effectiveness of theoretical results.