Adaptive Double Event-Triggered Control for Linear Multi-Agent Systems With Actuator Faults

This paper considers the adaptive double event-triggered consensus control problem for linear multi-agent systems subject to multiplicative and additive actuator faults. The control updates and the communication among agents at the current time are determined by the proposed double event-triggered mechanisms (ETMs), where two ETMs possess different triggering conditions and operate independently. In this case, the limited communication bandwidth is saved, and the control updates are also reduced. On the other hand, adaptive techniques are combined with event-triggered techniques to solve the fault-tolerant problem. Time-varying multiplicative and additive actuator faults are considered simultaneously, which is more general than some existing literature. The adaptive double event-triggered protocols are designed in two ways corresponding to different cases: 1) the network topology is completely known and 2) the topology is unknown. Both design methods can ensure the asymptotic consensus of multi-agent systems, and the Zeno behavior is excluded. Finally, a simulation example is given to illustrate the effectiveness of the theoretical analysis.