Distributed Dynamic Event‐Triggered Fault‐Tolerant Consensus Control for Mixed‐Order Heterogeneous Multi‐Agent Systems

ABSTRACT For a class of heterogeneous multi‐agent systems (MASs) with distinct dynamical orders, unknown parameters, and actuator faults, a distributed dynamic event‐triggered (DET) adaptive fault‐tolerant consensus control strategy is proposed. First, a distributed reference system with order‐matching is constructed for each agent to handle the heterogeneity in orders; Second, a trigger mechanism with dynamic thresholds is designed to ensure output consistency while substantially reducing the communication frequency; then, by integrating adaptive backstepping technology with distributed fault observers, unknown parameters and actuator faults are estimated and compensated online; finally, a composite Lyapunov function is constructed to prove that all signals of the closed‐loop system are globally uniformly bounded, the outputs achieve asymptotic consensus, and no Zeno behavior exists. Simulation results demonstrate that the proposed method can still achieve consensus in the presence of actuator faults, and significantly reduces the communication burden compared with static event triggering under the same performance requirements.