Fully Distributed Event-Driven Coordination With Actuator Faults

This article investigates the event-driven fault-tolerance (ETFT) consensus problem for general linear multiagent systems (MASs) with partial loss of effectiveness (PLOE) and bias faults of actuators in leader-follower networks. Each agent's controller is only updated relatively infrequently at its event moments. A desirable feature of this article is that the proposed event-driven algorithm is fully distributed also independent of global information and additive fault boundaries. Based on this, a consensus error prediction model is used to avoid the limitation that each agent needs to monitor its neighbors' state under event-driven conditions continuously. We further excluded the Zeno behavior by proving that any adjacent event interval for each agent is greater than zero. The simulations verify our results.