Simultaneous Fault Detection and Leader-Following Consensus for Multiagent Systems With Directed Graphs via Dynamic Event-Triggered Strategy

This paper considers the problem of dynamic event-triggered simultaneous fault detection and leader-following consensus (SFDLFC) problem for nonlinear multi-agent systems (MASs) with directed graphs. Firstly, based on the distributed fault detection observer, a distributed dynamic event-triggered consensus controller is designed together with a dynamic event-triggering mechanism (DETM) to achieve leader-following consensus of MASs under directed graphs and lessen the amount of data transmission between neighboring agents. Then, a residual evaluation mechanism is developed under directed graphs to detect and isolate the faulty agent. In order to make the residual signal sensitive to the faults and robust to the tracking errors, a hybrid H _∞ / H _- method is used to transform the design problem of consensus controller and fault detection observer into a multi-objective optimization problem, and sufficient conditions are obtained to satisfy the optimization performance constraints by Lyapunov theory. It should be noted that compared with the existing related works, our main contribution is that the proposed method could achieve consensus and detect faults of MASs under a more general communication graph, and the proposed DETM could generate larger triggering intervals and therefore achieve better resource efficiency. Finally, a simulation result is provided to demonstrate the effectiveness of the proposed technique.