Simplified ADP-Based Distributed Event-Triggered Fault-Tolerant Control of Heterogeneous Nonlinear Multiagent Systems With Full-State Constraints

This paper considers the distributed fault-tolerant consensus for heterogeneous nonlinear multiagent systems (HNMASs) with actuator faults and full-state constraints via adaptive dynamic programming (ADP). In order to handle the state constraint problem with multiple constraint types, a unified universal barrier function is introduced to convert the original constrained system into a non-constrained system. For the purpose of improving control efficiency and guaranteeing system reliability, a novel value function including fault estimations and control inputs is established. Considering the limitation of the computation and communication resources, a simplified ADP method incorporating the dynamic event-triggered strategy is developed to learn a distributed event-triggered fault-tolerant control policy. It is strictly proven that the HNMASs’ stability and the neural network weights’ convergence are guaranteed by the Lyapunov theory in the sense of uniform ultimate boundedness. Simulations are presented to verify the proposed control policy.