Adaptive Fault-Tolerant Containment Control of Multiagent Systems With Dynamic Event-Triggering Strategies

In this paper, the containment control problem is investigated of multiagent systems (MASs) with actuator failure under adaptive event-triggered control mechanisms. To reduce communication burden and minimize calculation costs, a distributed event-triggered control protocol is proposed with adaptive coupling gain for MASs. Specifically, the dynamic triggering conditions are designed to adjust the communication frequency between adjacent agents by introducing auxiliary parameters and time-varying gains. In contrast to static triggering conditions, the proposed dynamic triggering conditions not only widen the interval between any two consecutive triggering instants but also exhibit strong robustness. Then, based on stability theory, one sufficient condition is derived to achieve containment control of MASs. Additionally, the proposed event-triggered control protocol can enable the follower to converge to a convex hull formed by the leader in the presence of the actuator fault. Zeno behavior is also excluded by proving the interval between any two triggering instants is strictly greater than zero. Finally, a numerical simulation demonstrates the effectiveness of the proposed method.