Event-triggered fault-tolerant consensus control with control allocation in leader-following multi-agent systems

Event-triggered consensus in leader-following multi-agent systems with actuator fault is considered in this paper, in which the fault investigated can be multiplicative fault and outage fault. An event-triggered mechanism is utilized to relieve the communication burden of the interconnected system. Then, control allocation is proposed to solve actuator fault in the multi-agent systems for the first time. Compared with the existing fault-tolerant methods, the proposed method can guarantee that the consensus errors converge to zero asymptotically without the traditional rank assumption. Meanwhile, the Zeno behavior of the event-triggered system is proved to be avoided. Simulation results are also provided to verify the effectiveness of the proposed method.