Event-Triggered Fault-Tolerant Control for Multi-Agent Systems with Polynomial-Form Faults

This paper addresses the fault-tolerant control(FTC) problem in multi-agent systems(MAS), with a focus on actuator faults characterized by polynomial forms. The polynomial model effectively captures a variety of complex fault patterns and enables flexible representation of fault signals through polynomial approximation. Based on this model, a state observer is designed to simultaneously estimate the system states, fault signals, and external disturbances. To reduce communication load, an event-triggered mechanism incorporating an open-loop estimator is introduced. By integrating the observer and the event-triggered mechanism, a distributed FTC protocol is developed, which not only mitigates the impact of actuator faults but also attenuates external disturbances, thereby significantly enhancing system stability. Both theoretical analysis and simulation results demonstrate that the proposed scheme ensures satisfactory consensus performance in MAS.