Practical predefined-time event-triggered consensus for second-order leader–follower multiagent systems with actuator faults

TL;DR: This paper presents a novel event-triggered fault-tolerant control scheme for second-order leader-follower multiagent systems with actuator faults, achieving practical predefined-time consensus tracking with adaptive disturbance estimation and predefined-time estimator.

Abstract: This article centres on the practical predefined-time event-triggered consensus tracking issue for second-order multiagent systems (MASs) with actuator faults. First, an adaptive disturbance observer is presented for accurately estimating the lumped disturbances within predefined time. Second, a predefined-time estimator is constructed to obtain estimations of the tracking errors. Finally, a novel event-triggered fault-tolerant control scheme is developed to realise consensus tracking within a predefined time. The Lyapunov method is used to demonstrate that MAS can realise the practical predefined-time leader–follower consensus and rule out Zeno behaviour completely. Furthermore, in contrast to existing findings, the settling time of the presented predefined-time control scheme is determined entirely by a preset value, which benefits the construction of the control scheme based on convergence time requirements. Finally, the presented scheme is applied to the attitude of cooperative control of multi-spacecraft systems, and numerical simulations confirm their effectiveness and superiority.