Observer-Based Fuzzy Event-Triggered Consensus Fault-Tolerant Control for Nonlinear Multiagent Systems Under Switching Topologies

This article investigates the observer-based fuzzy event-triggered consensus fault-tolerant control (FTC) problem for nonlinear multiagent systems (MASs) with jointly connected switching topologies and actuator faults. Since a part of agents cannot receive information from their neighbors and leader under switching topologies, a distributed observer is designed to estimate unknown leader. At the same time, to avoid continuous information transmission and enhance the efficiency of network resource utilization among agents, an event-triggered communication mechanism is constructed to schedule interagent communication. Meanwhile, a fuzzy state observer is formulated to estimate the unmeasured states of the agents. Based on the distributed event-triggered observer and fuzzy state observer, an output-feedback event-triggered fuzzy FTC scheme is proposed by backstepping recursive control design. It is demonstrated that all the signals of the controlled MASs are semiglobally uniformly ultimately bounded, consensus tracking errors converge to a small neighborhood of zero, and continuous communication among agents is avoided. Finally, simulation results on marine surface vehicles testify the advantages and effectiveness of the theoretical results.