<p>This paper investigates the problem of event-triggered disturbance attenuation and fault-tolerant constrained consensus in multi-agent systems with a variable number of agents. First, an event-triggered design combining a disturbance observer and a fault-tolerant controller is proposed, which reduces network bandwidth usage while accurately estimating and compensating for disturbances and partial actuator failures, thereby improving system reliability. Next, a time-varying impulsive Lyapunov function related to the number of agents is introduced, and the communication matrix changes-resulting from variations in the communication structure are transformed into additive uncertainties, thus addressing topology switching issues arising from changes in the number of agents. To overcome the limitation of traditional <i>H</i><sub>∞</sub> control, which assumes zero initial conditions, a performance index dependent on the initial state is proposed, along with a novel event-triggered disturbance-rejection fault-tolerant control protocol. Sufficient conditions ensuring the consistency of disturbance attenuation and fault-tolerance constraints are then provided. Numerical simulations demonstrate the effectiveness of the proposed method.</p>

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Event-Triggered Disturbance Rejection Fault-Tolerant Constrained Consensus Against Agents’ Number Changing

  • Huanyu Ke,
  • Fan Zhang,
  • Jianning Li

摘要

This paper investigates the problem of event-triggered disturbance attenuation and fault-tolerant constrained consensus in multi-agent systems with a variable number of agents. First, an event-triggered design combining a disturbance observer and a fault-tolerant controller is proposed, which reduces network bandwidth usage while accurately estimating and compensating for disturbances and partial actuator failures, thereby improving system reliability. Next, a time-varying impulsive Lyapunov function related to the number of agents is introduced, and the communication matrix changes-resulting from variations in the communication structure are transformed into additive uncertainties, thus addressing topology switching issues arising from changes in the number of agents. To overcome the limitation of traditional H control, which assumes zero initial conditions, a performance index dependent on the initial state is proposed, along with a novel event-triggered disturbance-rejection fault-tolerant control protocol. Sufficient conditions ensuring the consistency of disturbance attenuation and fault-tolerance constraints are then provided. Numerical simulations demonstrate the effectiveness of the proposed method.