Resilient Event- Triggered Fault- Tolerant Control for Multiagent Systems under Communication Failure and Hybird Actuator Faults

This paper investigates the fault-tolerant tracking problem for multi-agent systems with directed topology under malicious attacks. Based on a resilient event-triggered mechanism, a novel distributed high-order sliding-mode observer and an adaptive cooperative fault-tolerant control method are proposed, which can achieve the desired formation shape tracking under communication limitations and hybrid actuator faults. First, the designed distributed event-triggered observer can estimate the unknown leader. Second, the proposed event-triggered mechanism can be used to reduce the utilization rate of network communication. Then, based on the information of the leader, the designed adaptive cooperative fault-tolerant controller can compensate for the influence of the hybrid actuator faults on the system under malicious attacks. Finally, the effectiveness of the method is verified by the example simulations.