Adaptive fault-tolerant consensus control of multi-agent systems with event-triggered inputs

This paper focuses on adaptive fault-tolerant consensus control (FTCC) for nonlinear multi-agent systems (MASs) under the directed communication topology with event-triggered inputs. Our distributed adaptive FTCC algorithm uses backstepping, effectively reducing the MAS calculation burden in the communication process and thus avoiding Zeno behavior. In the iterative process, a fuzzy logic system (FLS) directly approximates unknown control signals, and only one adaptive law of fuzzy parameters is given. In addition, our adaptive law compensates for parameters' upper bounds, such as the actuator error and trigger threshold, eliminating their system effects. A stability analysis is conducted, and the results show that the consensus-tracking error could concentrate on the point of origin's neighborhood and focus on the neighborhood of origin, and that closed-loop signals are bounded. Finally, a simulation is done to evaluate the proposed algorithm. The results show that the control algorithm achieved consistent MASs tracking performance and guaranteed bounded closed-loop MASs signals. Overall, the results demonstrate the algorithm's effectiveness.