Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop: Dynamic Event-Triggered Case

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems (MASs) in the presence of faults. A dynamic event-triggered protocol (DETP) by adding an auxiliary variable is utilized to improve the utilization of communication resources. First, a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation (FC) is adopted to realize the demand of reliability and safety of addressed MASs. Subsequently, a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$l_{2}-l_{\infty}$</tex> constraint by employing the variance analysis and the Lyapunov stability approaches. Furthermore, the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way, respectively. Finally, a simulation result is employed to verify the usefulness of the proposed design framework.