Fault-Tolerant Control of Linear MASs With Dynamic Event-Triggered

This paper investigates the consensus problem of linear Multi-agent Systems with external disturbances and actuator faults. First, an extended state observer is designed to observe the system state and disturbances when the system state is unknown. Secondly, a distributed dynamic event-triggered controller based on the observer is designed. The consensus problem under connected undirected graphs is solved in a fully distributed way. Third, it is shown that any two triggering intervals are strictly positive, and no agent occurs Zeno behavior. Finally, the effectiveness of the proposed strategy is confirmed by a numerical simulation.