# American Institute of Mathematical Sciences

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

 1 School of Automation and Guangdong Provincial Key Laboratory of Intelligent, Decision and Cooperative Control, Guangdong University of Technology, Guangzhou 510006, China 2 College of Engineering, Bohai University, Jinzhou 121013, China

* Corresponding author: Shubo Li

Received  January 2020 Revised  February 2020 Published  May 2020

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.

Citation: Hongru Ren, Shubo Li, Changxin Lu. Event-triggered adaptive fault-tolerant control for multi-agent systems with unknown disturbances. Discrete & Continuous Dynamical Systems - S, doi: 10.3934/dcdss.2020379
##### References:

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##### References:
Topology of communication graph
Output trajectories of followers and the leader
The trajectories of tracking errors
The trajectories of event-triggered controllers
The trajectories of errors between disturbances and disturbance observers
The trajectories of errors between disturbances and disturbance observers
Triggering instants and inter-event intervals
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