Event-triggered output feedback consensus tracking control for nonlinear multiagent systems with sensor failures

This paper focuses on event-triggered consensus tracking control for nonlinear parametric strict -feedback multi-agent systems subject to unknown sensor failures. Different from existing state observer, a new gain-scheduled state observer is designed to estimate the unmeasured states and sensor failures simultaneously. On the basis of the adaptive observer, a sensor failure compensator is constructed to adaptively cancel the effects of sensor failures. Furthermore, the designed switching threshold event-triggered strategy effectively reduces the communication burden and balances system performance. Based on the Lyapunov function method and the backstepping technique, it is shown that output consensus tracking and global uniform boundedness of all the closed-loop signals are achieved. Additionally, the Zeno behavior is proven to be excluded. Finally, the obtained results are illustrated by means of two simulation examples.(c) 2022 Elsevier Ltd. All rights reserved.