Fully Distributed Bounded Output Consensus for Heterogeneous Multi‐Agent Systems With Communication Link Faults and Actuator Faults Under Double Dynamic Event‐Triggered Mechanisms

ABSTRACT This work examines the fully distributed bounded output consensus under double dynamic event‐triggered mechanisms for heterogeneous linear multi‐agent systems with communication link faults and actuator faults. In the presence of communication link failures that induce signal transmission inaccuracies among agents, followers are unable to precisely monitor the leader's state or the states of neighboring agents. Therefore, the fully distributed compensator is proposed to estimate the leader's state. Furthermore, an output feedback state observer is developed to ensure accurate estimation of each follower's state. Based on the compensator and observer, an adaptive fault‐tolerant controller is introduced to address the bounded output consensus problem. The double dynamic event‐triggered mechanisms, implemented at both the communication and control terminals, effectively reduce communication frequency and controller updates simultaneously. Additionally, Lyapunov stability theory is applied to confirm that the established compensator and controller can achieve the desired goals and eliminate the Zeno behavior. Finally, numerical simulations and application examples are provided to demonstrate the validity of the obtained results.