Article Contents
Article Contents

# Event-triggered adaptive fault-tolerant control for multi-agent systems with unknown disturbances

• * Corresponding author: Shubo Li
• This paper presents an event-triggered consensus control protocol for a class of multi-agent systems with actuator faults, sensor faults and unknown disturbances. The adaptive neural network compensation control method is introduced to solve the problem of sensor faults. The event-triggered mechanism is developed to reduce the communication burden. In the control design process, the radial basis function neural networks are used to approximate the unknown nonlinear functions, and a nonlinear disturbance observer is used to eliminate the effect of unknown external disturbances. Furthermore, based on the graph theory and Lyapunov stability theory, it is further shown that the consensus tracking errors are semi-globally uniformly ultimately bounded. Finally, the simulation example illustrates the effectiveness of the designed control protocol.

Mathematics Subject Classification: 93C40(93C10).

 Citation:

• Figure 1.  Topology of communication graph

Figure 2.  Output trajectories of followers and the leader

Figure 3.  The trajectories of tracking errors

Figure 4.  The trajectories of event-triggered controllers

Figure 5.  The trajectories of errors between disturbances and disturbance observers

Figure 6.  The trajectories of errors between disturbances and disturbance observers

Figure 7.  Triggering instants and inter-event intervals

Figures(7)