Cooperative Fault-Tolerant Output Regulation of Linear Heterogeneous Multiagent Systems via an Adaptive Dynamic Event-Triggered Mechanism

This article considers the problem of cooperative fault-tolerant output regulation of linear heterogeneous multiagent systems with actuator faults where the exosystem matrix is known by part of the followers. An adaptive dynamic event-triggered scheme is proposed to avoid continuous communication between followers, removing the assumption that global information should be known for controller design. Different from the existing open-loop estimation method for obtaining intermittent communication, the approach proposed in this article does not require that the system matrices of all agents be the same and known a prior. Compared with the existing static or periodic event-triggered mechanism (ETM), by introducing dynamic variables, a more general form than an exponential function, the proposed adaptive dynamic event-triggered condition provides the potential to save energy and obtain better performance. It is demonstrated that the suggested event-triggered control (ETC) method performs cooperative fault-tolerant output regulation for all followers in a completely distributed way with intermittent communication while excluding Zeno behavior. Finally, a simulation example is carried out to illustrate the efficacy of the suggested strategy.