Event-Triggered Fault-Tolerant Control and Synchronous Disturbance Suppression for Multi-Agent Systems with Switching Topologies

For continuous-time linear leader-follower multi-agent systems with polynomial faults, the fault-tolerant state consensus problem under switching topologies is studied. Firstly, the average dwell time method was introduced to design observers for different topologies to observe faults and disturbances. Secondly, the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> method is introduced in the observer proof to make the system achieve stability. Then, according to the observed estimated value and considering the switching situation of communication topology, the corresponding fault-tolerant control consensus protocol is proposed. Finally, theoretical analysis and simulation examples verify that the proposed design scheme can achieve fault compensation and disturbance suppression.