Fault‐Tolerant Consensus Control for Linear Multi‐Agent Systems With Dynamic Event‐Triggered Mechanisms Based on Intermediate Observers

ABSTRACT This paper primarily investigates the problem of fault‐tolerant consensus control in multi‐agent systems with actuator faults. Firstly, a novel fault observer with intermediate variables is utilized, which can rapidly and effectively estimate both the states and faults of the multi‐agent systems. Secondly, a dynamic event‐triggered mechanism based on periodic sampling is introduced between the sensors and the observer, effectively reducing the waste of communication resources. Then, by observing the faults and states, a distributed fault‐tolerant controller is established, enabling effective fault compensation. Additionally, control is employed to mitigate the disturbances' impact on the multi‐agent systems, ensuring that all follower agents achieve consensus with the leader agent. Finally, the proposed method's effectiveness is validated through a simulation.