Event-triggered fault-tolerant consensus control with control allocation in leader-following multi-a

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Event-triggered consensus in leader-following multi-agent systems with actuator fault is considered in this paper,in which the fault investigated can be multiplicative fault and outage fault.An event-triggered mechanism is utilized to relieve the communication burden of the interconnected system.Then,control allocation is proposed to solve actuator fault in the multi-agent systems for the first time.Compared with the existing fault-tolerant methods,the proposed method can guarantee that the consensus errors converge to zero asymptotically without the traditional rank assumption.Meanwhile,the Zeno behavior of the event-triggered system is proved to be avoided.Simulation results are also provided to verify the effectiveness of the proposed method.
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