Event‐Triggered Predefined‐Time Adaptive Bipartite Consensus Control of Nonlinear MASs With Actuator Faults

ABSTRACT This paper addresses the problem of event‐triggered predefined‐time adaptive bipartite consensus control for nonlinear multi‐agent systems (MASs) with actuator faults. By incorporating the command filter and error compensation mechanism into the backstepping design framework, the problem of “explosion of complexity” is effectively handled, while simultaneously reducing the effect of filtered errors. Moreover, the utilization of the adaptive compensation technique and event‐triggered control strategy effectively handles unknown actuator faults and conserves communication resources. The singularity issue is resolved by utilizing the feature of hyperbolic tangent functions. It is proven that the closed‐loop system is practically predefined‐time stable, and the bipartite consensus errors converge to a small neighborhood of the origin within a predefined time. Finally, simulation results confirm the effectiveness of the proposed predefined‐time control method.