Observer-Based Fuzzy Event-Triggered Consensus Fault-Tolerant Control for Nonlinear Multiagent Systems Under Switching Topologies

Abstract

This paper investigates the observer-based fuzzy event-triggered consensus fault-tolerant control (FTC) problem for nonlinear multiagent systems (MASs) with jointly connected switching topologies and actuator faults. Since a part of agents cannot receive information from their neighbors and leader under switching topologies, a distributed observer is designed to estimate unknown leader. At the same time, to avoid continuous information transmission and enhance the efficiency of network resources utilization among agents, an event-triggered communication mechanism is constructed to schedule inter-agent communication. Meanwhile, a fuzzy state observer is formulated to estimate the unmeasured states of the agents. Based on the distributed event-triggered observer and fuzzy state observer, an output-feedback event-triggered fuzzy FTC scheme is proposed by backstepping recursive control design. It is demonstrated that all signals of the controlled MASs are semi-globally uniformly ultimately bounded (SGUUB), consensus tracking errors converge to a small neighborhood of zero, and continuous communication between agents is avoided. Finally, simulation results on marine surface vehicles (MSVs) testify the advantages and effectiveness of the theoretical results.