Simultaneous Fault Detection and Leader-Following Consensus for Multiagent Systems With Directed Graphs via Dynamic Event-Triggered Strategy

This article considers the dynamic event-triggered simultaneous fault detection and leader-following consensus (SFDLFC) problem for nonlinear multiagent systems (MASs) with directed graphs. First, based on the distributed fault detection (FD) observer, a distributed dynamic event-triggered consensus controller is designed together with a dynamic event-triggering mechanism (DETM) to achieve leader-following consensus of MASs under directed graphs and lessen the amount of data transmission between neighboring agents. Then, a residual evaluation mechanism is developed under directed graphs to detect and isolate the faulty agent. To make the residual signal sensitive to the faults and robust to the tracking errors, a hybrid $H_{\infty }/H_{-}$ method is used to transform the design problem of consensus controller and FD observer into a multiobjective optimization problem, and sufficient conditions are obtained to satisfy the optimization performance constraints by Lyapunov theory. It should be noted that compared with the existing related works, our main contribution is that the proposed method could achieve consensus and detect faults of MASs under a more general communication graph, and the proposed DETM could generate larger triggering intervals and therefore achieve better resource efficiency. Finally, a simulation result is provided to demonstrate the effectiveness of the proposed technique.