Robust fault-tolerant cooperative control for a class of interconnected systems with actuator faults based on dynamic event-triggered

In this paper, the problem of fault estimation (FE) and fault-tolerant control (FTC) for a class of systems with dynamic event-triggered mechanism (ETM) and time delay in a network environment is studied. To shorten the time between events and minimize the amount of data transmitted, this paper introduces dynamic variables within the ETM. In order to ensure the interval between the system state and its estimation, a fault/state estimation observer considering time delay is designed, which improves the reliability and security of the system. On this basis, a fault-tolerant controller considering time delay is constructed to compensate the impact of faults on the system. The observer, controller, and ETM are co-designed to maintain system performance. By making full use of the information between subsystems, a continuous time interconnection systems is constructed and the cooperative control mechanism is redesigned on the basis of the above system. Through theoretical analysis, it has been demonstrated that Zeno phenomenon does not exist in the ETM in this paper. Finally, the main results are verified by numerical simulation, and the validity of the conclusions is demonstrated.