Cooperative Adaptive Event-Triggered Control for Multiagent Systems with Actuator Failures

This paper investigates the leaderless and leader-following problems for the nonlinear multiagent systems based on event-triggered communication scheduling. It should be pointed out that the input coefficient of every actuator is a stochastic function related to Markovian variables. A more general event-triggered mechanism is designed to decrease communication burden from the controller to the actuator. Furthermore, Barrier Lyapunov function is used to restrict the bound of tracking error in advance. To reduce the amount of calculations, a second-order tracking differentiator is introduced to avoid repeated derivative. Based on Lyapunov stability theory, it is proved that the designed controllers can guarantee the outputs of all agents eventually converge to agreement and all the signals in the systems are bounded in probability. Finally, the numerical simulation results are presented to illustrate the effectiveness of the approach proposed.