Fully Distributed Fault-Tolerant Consensus-Tracking Control for Multiple Wheeled Mobile Robots With Event-Triggered Communication

This article investigates the fully distributed output feedback consensus-tracking control problem for multiple wheeled mobile robots (multi-WMRs) subject to dual-actuator faults (DAFs) under the directed graph. First, a fully distributed estimator is designed to asymptotically estimate the leader's states with nonzero input under event-triggered communication. Next, novel filters are introduced to compensate for unmeasured velocity information in the presence of DAF, and output feedback fault-tolerant controllers are developed to ensure asymptotic consensus tracking despite the faults of actuators. Each robot in the considered multi-WMR system is equipped with two controllers that are co-designed in a unified framework. The final control laws are obtained by solving a set of equations, for which the existence of a unique solution is rigorously established. The proposed scheme not only enables output feedback control under partial loss-of-effectiveness (PLOE) faults in dual actuators, but also ensures fully distributed consensus tracking with event-triggered communication. The simulation results validate the effectiveness of the proposed approach.