Event-Triggered Fault-tolerant Model Predictive Control of Nonlinear Multi-agent System with Time Delay and Parameter Uncertainty

This paper proposes a compound control method combining with robust model predictive control (RMPC) method and the event-triggered mechanism for a class of nonlinear multi-agent system (NMAS) with time delay, uncertainties, actuator faults and input constraints. Specifically, at each sampling time, the control action is calculated by solving an online constrained optimization problem, using Lyapunov-Krasovskii functions to design state feedback control laws to ensure that the consensus error of the NMAS tends to zero and the event-triggered mechanism can save communication resources. Finally, the effectiveness of the proposed event-triggered fault-tolerant RMPC method is verified by an example.