Double event-triggered fault tolerant consensus of nonlinear heterogeneous multiagent systems under inconsistent Markov

This paper addresses the fault-tolerant control of nonlinear heterogeneous multi-agent systems with actuators and sensors affected by faults under inconsistent Markov switching topology. A double event-triggered strategy is introduced to reduce the communication burden in the network and to improve the effectiveness. Moreover, to avoid Zero behavior, the considered event-triggered conditions are dependent on sampled-data. Based on this, the state observers and fault estimators are designed to estimate the system states and faults, and the estimation results are utilized to design the fault-tolerant controllers. The stability criterion of the estimated error system can be obtained based on Lyapunov theory and some inequality techniques. Finally, the effectiveness of the proposed method is verified by a numerical simulation.