This paper presents an event-triggered consensus control protocol for a class of multi-agent systems with actuator faults, sensor faults and unknown disturbances. The adaptive neural network compensation control method is introduced to solve the problem of sensor faults. The event-triggered mechanism is developed to reduce the communication burden. In the control design process, the radial basis function neural networks are used to approximate the unknown nonlinear functions, and a nonlinear disturbance observer is used to eliminate the effect of unknown external disturbances. Furthermore, based on the graph theory and Lyapunov stability theory, it is further shown that the consensus tracking errors are semi-globally uniformly ultimately bounded. Finally, the simulation example illustrates the effectiveness of the designed control protocol.

中文翻译：

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具有未知干扰的多智能体系统的事件触发自适应容错控制

本文针对一类具有执行器故障，传感器故障和未知干扰的多智能体系统，提出了一种事件触发的共识控制协议。为了解决传感器故障问题，引入了自适应神经网络补偿控制方法。开发了事件触发机制以减轻通信负担。在控制设计过程中，使用径向基函数神经网络逼近未知的非线性函数，并使用非线性扰动观测器消除未知外部扰动的影响。此外，基于图论和李雅普诺夫稳定性理论，进一步证明了共识跟踪误差是半全局一致的最终有界的。最后，仿真示例说明了所设计控制协议的有效性。