Adaptive Event-Triggered Sliding-Mode Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems With Unknown Perturbations

This paper researched the robust sliding mode fault-tolerant consensus problem for uncertain second-order leader-following nonlinear multiagent systems (MASs) based on event-triggered strategies. First, an adaptive event-triggered sliding mode fault-tolerant controller was constructed by using the information of actuator failure rate and event-triggered threshold to ensure the robust consensus of MASs, optimize the performance under variable conditions, and reduce actuator degradation and overutilization of network resources. Additionally, the range of the sliding mode band is determined. Second, by employing the Lyapunov stability theory, a sufficient condition for the performance of leader-following nonlinear MASs adaptive tracking was given. And through constructing an equivalent connection, an upper bound for the robust consensus error is also provided. Third, the minimum execution time for event triggering in second-order leader-following MASs is computed. Finally, the simulation results validate the effectiveness of the suggested method for achieving fault-tolerant consensus using event-triggered SMC.