Enabling Reliable Cooperative Output Regulation in Directed Graphs: Fully Distributed Event-Triggered Protocols for Multiagent Systems With Actuator Faults and Communication Link Faults

This article addresses the reliable cooperative output regulation (COR) of uncertain nonlinear multiagent systems (MASs) with link and actuator faults under directed graphs. Unlike existing studies where the exosystem matrix is known to all followers, in this approach, only some followers have access to the exosystem matrix. Adaptive event-triggered observers are proposed to estimate the exosystem matrices and states, ensuring resilience to communication link faults. Besides, to overcome the difficulty in the controller design caused by the lack of higher order derivatives of the exosystem state estimates, a novel dynamic surface control (DSC) technique is introduced. In contrast to existing linear DSC techniques, where the presence of boundary layer errors prevents the system from being asymptotically stable, nonlinear compensation terms are employed in the introduced DSC to eliminate the effects of boundary layer errors, thereby ensuring the system's asymptotic stability. Then, based on the distributed observers and improved DSC techniques, a reliable control scheme is established, which realizes the COR of the considered MASs. Moreover, the proposed event-triggeredmechanisms guarantee that theminimum event-triggered intervals are larger than positive constants. No Zeno behavior occurs. Finally, a practical example verifies the effectiveness of the proposed scheme.