Event-triggered fault-tolerant tracking control for multiagent systems under actuator/sensor faults.

Sensor faults can contaminate system measurements such that reliable estimation cannot be achieved and further cause abnormalities in multiagent systems (MASs). Addressing this problem, this study develops an event-triggered fault-tolerant tracking control (FTTC) protocol. The descriptor approach is first used to construct extended states and eliminate sensor faults from the measurement equation. A sliding-mode observer is then tailored based on the transformed system to realize state estimation and fault diagnosis (FD) simultaneously. Subsequently, an event-triggered distributed estimator is developed to isolate the uncertainty's influence and reduce communication overhead while estimating the leader's state. By incorporating the estimator and observer outputs, an FTTC protocol is developed to ensure stability under actuator/sensor faults. Finally, the investigated FTTC method is validated with a numerical simulation of multiple quadrotors.