Cooperative Fault-Tolerant Control for Heterogeneous Multiagent Systems: A Dual Dynamic Event-Triggered Approach

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.