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| Fault Tolerance Consistency of Nonlinear Heterogeneous Multi-agent Systems Based on Event Triggering |
| WANG Jun, CAI Xueqiang
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| School of Electrical Engineering and Information Engineering, Lanzhou University of Technology, Lanzhou 730050, China |
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Abstract Aiming at actuator faults and external disturbances in nonlinear heterogeneous multi-agent systems, a fault tolerance consistency algorithm based on event triggering is proposed to ensure system consistency. A trigger function based on state error is designed for the follower. The agent only triggers the event in a certain case, updates and transmits the sampled information. By synthesizing model transformation, matrix theory and Lyapunov stability theory, the sufficient conditions for the system to reach agreement are obtained, which ensures the stability of the system. The control gain matrix is solved by linear matrix inequality (LMI) based on Lipschitz and norm bounded conditions when nonlinear elements are considered. The feasibility and effectiveness of the proposed method are verified by Matlab simulation experiments.
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Received: 17 September 2023
Published: 10 December 2025
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