Distributed Event-Triggered Adaptive Control for Consensus of Actuator Fault Multiagent Systems With Parameter Uncertainty and External Disturbances

The leader–follower consensus problem in the presence of parameter uncertainty and external disturbances is investigated for multiagent systems (MASs) with actuator faults, which are based on event-triggered control. First, a new distributed event triggering strategy is proposed which avoids continuous communication between agents and is based on the state estimation of neighbouring agents. Instead, the growing estimation error is reset by communication updates. An adaptive update mechanism is also proposed which does not need any knowledge of the global aspects of the communication topology graph and does not need an upper threshold for parameter uncertainty and external disturbances in the protocol. The results show that the tracking error under the event-triggered protocol asymptotically converges to zero, while avoiding Zeno behaviour. Finally, a numerical simulation confirms the feasibility of the theoretical results.