Event-Triggered Containment Control for Nonlinear MASs with Mismatched Disturbances and Sensor Failures

This article focuses on the relative threshold event-triggered control problem of nonlinear multi-agent systems with mismatched disturbances and sensor failures. Firstly, in order to overcome the difficulties caused by mismatched uncertainty disturbances, a disturbance observer was constructed based on the backstepping technique. Secondly, an adaptive neural network fault-tolerant control strategy was proposed using dynamic surface control technology to address sensor failure issues. In addition, a relative threshold event triggering mechanism was designed based on input quantization nonlinear decomposition method to save network transmission resources and reduce the number of controller updates. Finally, the effectiveness of the proposed scheme was demonstrated through simulation results.