Event-Triggered Adaptive Fault-Tolerant Control for a Class of Nonlinear Multiagent Systems With Sensor and Actuator Faults

This paper investigates the leader-following consensus control problem for a class of nonlinear multiagent systems subject to sensor and actuator faults under a fixed directed graph. First, a fault compensation mechanism is proposed because of multiple faults wherein the adaptive parameters substitute the fault coefficients. Then, the command filtering method is employed to avoid the burst of complexity rendered by the duplicative differentiation of the virtual control signal. Furthermore, the neural networks-based state observers are designed to reconstruct the unmeasurable states of the nonlinear multiagent systems. According to the given design approach, a switching threshold-based event-triggered adaptive fault-tolerant control strategy is developed and ensures all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB). Finally, the simulation result is provided to demonstrate the validity of the presented method.