Fully distributed event-triggered consensus of linear multiagent systems with multiplicative faults

Abstract

This paper investigates the distributed adaptive event-triggered consensus problem for linear multiagent systems (MASs) with time-varying multiplicative faults. We propose a novel adaptive dynamic event-triggering mechanism (ADETM) that intermittently integrates the fault estimation (FE) and adaptive coupling gains into the triggering functions and internal dynamic variables, ensuring larger inter-event intervals and reducing communication overhead. An adaptive technique is introduced to estimate the unknown time-varying multiplicative faults, while the FE and adaptive coupling gains are co-designed to effectively compensate for fault-induced disturbances. Based on the proposed ADETM, we develop a fully distributed adaptive event-triggered protocol that guarantees asymptotic consensus and excludes Zeno behavior, despite the presence of varying faults. Furthermore, the proposed protocol avoids the need for continuous communication among neighboring agents for both control law updates and event detection. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed theoretical results.