Event-Triggered Integration of Fault Estimation and Fault-Tolerant Control for Nonlinear Multi-agent Systems

In this paper, the event-triggered fault-tolerant leader-follower consensus problem is studied for a group of heterogeneous uncertain nonlinear multi-agent systems with actuator faults and external disturbances. An event-triggered integrated fault estimation and fault-tolerant cooperative control strategy is proposed. Firstly, an observer is designed for each agent to estimate the size of the fault. Then, an output feedback fault-tolerant control protocol and an event-triggered mechanism are proposed. Finally, the effectiveness of the proposed control strategy is illustrated by a numerical simulation.