Researgh On Event-Triggered Fault-Tolerant Consensus Control Of Multi-Agent Systems Considering Actuator Faults

Multi-agent systems has extensive application achievements and broad research value in military,transportation,power grid and other fields,because of its progressiveness and practicability.As the basic research problem of multi-agent systems,consensus control is of great significance to the research of other problems.During the long running process of multi-agent system,once the actuators in one or more agents fail,the expected tasks of the entire system will not be achieved,and even more serious disasters may occur.Therefore,it is of great significance to study the fault-tolerant control of multi-agent systems.Communication resources are a very important part of the multi-agent systems,which are usually limited.Therefore,this paper introduces the event-triggered mechanism to reduce the transmission of unnecessary information to achieve the purpose of saving communication resources.This paper studies the event-triggered fault-tolerant consensus control of second-order leader-following nonlinear multi-agent systems,taking into account the bad factors such as actuator faults and limited communication resources.The main research work is as follows:Firstly,for the problems that each follower has partial loss of actuator effectiveness,unmeasurable velocity and external disturbance,an improved reduced-order extended state observer is designed for the follower to estimate the unmeasurable velocity information and the lump interference composed of partial loss of actuator effectiveness and external disturbance.For the problem of limited communication resources,a leader-following fault-tolerant consensus controller is designed based on a distributed static event-triggered mechanism.The effectiveness of the designed observer,event-triggered mechanism and consensus controller are verified by theoretical analysis and numerical simulation.Secondly,for the problems that each follower has actuator bias faults,unmeasurable velocity and external disturbance,a finite-time observer is designed for the follower to estimate the unmeasurable velocity information and actuator bias faults information.For the problem of limited communication resources,to further extend the interval between event triggering,constructing dynamic auxiliary variables,an integral sliding mode leader-following finite-time fault-tolerant consensus controller based on dynamic event-triggered mechanism is designed.The effectiveness of the designed observer,dynamic event-triggered mechanism and consensus controller are verified by theoretical analysis and numerical simulation.Finally,for the problems that each follower has actuator compound faults,unmeasurable state and external disturbance,a distributed extended state observer is designed for the follower to estimate unmeasurable state and the lump interference consisting of actuator compound faults and external disturbance.For the problem of limited communication resources,to further improve the effect of event-triggered mechanism,constructing adaptive auxiliary variables,a leader-following fault-tolerant consensus controller based on distributed adaptive event-triggered mechanism is designed.The effectiveness of the designed observer,adaptive event-triggered mechanism and consensus controller are verified by theoretical analysis and numerical simulation.