Event-triggered-based Fault-tolerant Consensus for AUVs on Heterogeneous Switch Topology

This paper has designed a distributed leaderless multi-AUV system's adaptive event-triggered fault-tolerant consensus control protocol. The system communication network is on the heterogeneous switch topology, and AUV's actuators have multiplicative faults. The actuator fault degree can not be equal in each AUV. This article introduces adaptive parameters in the trigger function to improve the self-regulation capability of the event-triggered mechanism system. The fully distributed event-triggered fault-tolerant consensus strategy depends on the adaptive coupling gain that can eliminate the global information influence in the multi-AUV system. The designed event-triggered controller has good work on actuator multiplicative fault. The states of the multi-AUV system could converge to zero without Zeno behaviour. Finally, the Lyapunov functional method proves the system's stability, and the numerical simulation presents the strategy's effectiveness.