Distributed Adaptive Event-Triggered Fault-Tolerant Synchronization for Multiagent Systems

This article investigates the fully distributed observer-based adaptive fault-tolerant synchronization problem (SP) of multiagent systems with event-triggered control mechanisms. First, a nonlinear and discontinuous adaptive observer-based event-triggered fault-tolerant controller is proposed for each agent to overcome the occurrence of unknown faults and unmeasurable full states of the controlled system. Besides, an adaptive triggering function consisting of state-dependent and time-dependent threshold is developed to adjust the parameter of triggering threshold online. Then, a modified nonlinear and continuous observer-based controller with adaptive ETC strategy is developed to overcome the chattering phenomenon from the discontinuous controller. It is proved that under two controllers, the SP not only can be achieved in a fully distributed way without continuous communication for both the controller updates and the triggering condition detecting but also exclusion of 'Zeno behavior' can be realized. Finally, the effective algorithms can be verified by giving numerical simulations related to mobile robots.