Event-triggered adaptive fault-tolerant control for heterogeneous nonlinear multi-agent systems

In this paper, a distributed adaptive output feedback consensus tracking control scheme is developed for heterogeneous nonlinear multi-agent systems (MASs) with actuator failures. Unlike most existing results, the parameters in the considered MAS are unknown, and the system's nonlinear functions are not required to satisfy the Lipschitz condition. A kind of K-filters with an additional design parameter is designed to suppress the effects of unknown actuator failures. In addition, an event-triggering mechanism with a switching threshold method is designed to reduce the communication burden. With the proposed control scheme, the tracking error of each subsystem converges exponentially to an adjustable bound. Finally, a nonlinear MAS consisting of multiple single-link robot manipulators is given to verify its effectiveness.