Adaptive Dynamic Event-Triggered Fault-Tolerant Consensus for Nonlinear Multiagent Systems With Directed/Undirected Networks

The fault-tolerant consensus of nonlinear multiagent systems (MASs) is studied by using the dynamic event-triggered control and the adaptive control techniques. First, a general dynamic adaptive event-triggered mechanism (DAETM) is proposed, which promotes and improves many existing dynamic event-triggered mechanism and static event-triggered mechanism. On this basis, a new distributed dynamic adaptive event-triggered fault-tolerant controller (DDAETFTC) is designed. Then, two simple and clear criteria are derived, respectively, to ensure consensus can be reached asymptotically for nonlinear MASs with directed networks and with undirected networks under the new DDAETFTC. The obtained results also can apply to linear MASs. Furthermore, it is proven that there is no agent to show the Zeno behavior in MASs under the new DAETM. Finally, an example is given to simulate the obtained results.