Distributed fault-tolerant containment control for a class of non-linear multi-agent systems via event-triggered mechanism

摘要

An issue of actuator faults in non-linear multi-agent systems with multiple leaders is addressed in this work. Through an event-triggered mechanism, a novel fault-tolerant containment control protocol is designed to eliminate the adverse effects of actuator faults on the systems, and the communication resources can be saved efficiently in the meantime. The self-regulation of the event-triggered mechanism is enhanced significantly by utilizing the adaptive updating strategies, and the proposed triggering thresholds are both time-dependent and state-dependent. A sufficient condition is derived to make the systems with aperiodic sampling stabilizable. Moreover, it is proved that Zeno behavior can be avoided in this article. A numerical simulation is also presented to exhaustively illustrate the effectiveness of the designed scheme.