Fault-tolerant consensus control of linear multi-agent systems with polynomial faults based on event triggered mechanism

This paper investigates the problem of fault-tolerant consensus control in multi-agent systems, with an emphasis on triggers induced by polynomial faults. Polynomial models are utilized to precisely capture the diverse range of faults that may manifest within the system, enabling an accurate representation of fault dynamics through polynomial approximations. An observer is subsequently designed to estimate both system faults and external disturbances with a high degree of accuracy. To optimize communication efficiency, an event-triggering mechanism based on periodic sampling is introduced, significantly reducing superfluous data transmissions. Based on the estimated faults and disturbances, a distributed fault-tolerant controller is devised. This controller effectively mitigates the impact of actuator faults while attenuating external disturbances, thereby substantially enhancing system robustness. The proposed approach ensures synchronization, disturbance rejection, and robust consensus control throughout the multi-agent network. The efficacy of the proposed methods is demonstrated through extensive simulation studies. Moreover, the approach not only decreases the frequency of event triggers but also enlarges the domain of attraction. The practical feasibility and effectiveness of the approach are further validated through two comprehensive simulation examples.