IEEE Trans Cybern. 2019 Mar;49(3):757-767. doi: 10.1109/TCYB.2017.2782731. Epub 2018 Jan 30.
In this paper, the distributed adaptive event-triggered fault-tolerant consensus of general linear multiagent systems (MASs) is considered. First, in order to deal with multiplicative fault, a distributed event-triggered consensus protocol is designed. Using distributed adaptive online updating strategies, the computation of the minimum eigenvalue of Laplacian matrix is avoided. Second, some adaptive parameters are introduced in trigger function to improve the self-regulation ability of event-triggered mechanism. The new trigger threshold is both state-dependent and time-dependent, which is independent of the number of agents. Then sufficient conditions are derived to guarantee the leaderless and leader-following consensus. On the basis of this, the results are extended to the case of actuator saturation. It is proved the Zeno-behavior of considered event-triggered mechanism is avoided. At last, the effectiveness of the proposed methods are demonstrated by three simulation examples.
本文研究了一般线性多智能体系统（MASs）的分布式自适应事件触发容错一致性问题。首先，为了处理乘法故障，设计了分布式事件触发一致性协议。使用分布式自适应在线更新策略，避免了计算拉普拉斯矩阵的最小特征值。其次，在触发函数中引入了一些自适应参数，以提高事件触发机制的自调节能力。新的触发阈值既是状态相关的，也是时间相关的，与智能体的数量无关。然后推导出了保证无领导和有领导一致性的充分条件。在此基础上，将结果扩展到执行器饱和的情况。证明了所考虑的事件触发机制可以避免 Zeno 行为。最后，通过三个仿真示例验证了所提方法的有效性。
