Fault-Tolerant Group Consensus Control of Hybrid Multi-Agent Systems Based on Event-Triggering Strategy

In this paper, we study the group consensus problem of hybrid multi-agent systems (HMASs) with actuator faults under event-triggering conditions. Firstly, considering different starting times and a variety of fault types, an online observer is designed to accurately evaluate the impact of actuator faults. Then, a new distributed hybrid multi-agent group consensus fault-tolerant control protocol is proposed based on the neighbor multi-agent information of the location state when the event is triggered. The designed controller can effectively eliminate Zeno phenomenon, compensate the influence of fault on the system, and realize the consensus of the system group by providing appropriate event-triggering strategy. By using Lyapunov functional method, the sufficient conditions for stability of second-order multi-agent systems are given. Finally, a numerical example is presented to verify the correctness of the obtained results.