Event‐Based Fixed‐Time Sliding Mode Control for Multiagent Systems With Actuator Faults and Prescribed Performance

ABSTRACT This paper studies the consensus tracking control issue for multiagent systems of actuator faults and unknown external disturbances. First, a disturbance observer is constructed to ensure an accurate estimation of disturbances within a fixed time. Then, we introduce a prescribed performance control method to ensure that the consensus error converges to a prescribed small region within a fixed time. In addition, an adaptive update strategy for unknown actuator efficiency factors is proposed. Under the adaptive update law, a fixed‐time sliding mode fault‐tolerant controller based on dynamic event‐triggered rule is developed to address actuator faults and reduce the occupation of communication bandwidth. By applying the Lyapunov stability theorem, we deduce that the convergence time is independent of the initial value. Finally, a simulation example demonstrates the feasibility of the proposed control method.