This paper investigates the fully distributed dynamic event-triggered consensus problem for multi-agent systems with input saturation and actuator failure. Firstly, a distributed adaptive parameter is designed to estimate communication noise. Then, under the assumption that each agent is asymptotically null controllable with bounded controls, a low-gain state feedback control protocol is designed according to the algebraic Riccati equation. Furthermore, by introducing an internal dynamic variable, a novel fully distributed dynamic event-triggered control mechanism is proposed for multi-agent systems. Under this fully distributed dynamic event-triggered control mechanism, all agents of multi-agent systems can reach semi-global consensus and the Zeno behavior is excluded. Finally, a simulation example is presented to illustrate the effectiveness of the proposed algorithm.

本文研究了具有输入饱和和执行器故障的多智能体系统的完全分布式动态事件触发共识问题。首先，设计分布式自适应参数来估计通信噪声。然后，在假设每个智能体可以用有限控制渐近地零控制的情况下，根据代数Riccati方程设计了一种低增益状态反馈控制协议。此外，通过引入内部动态变量，为多智能体系统提出了一种新颖的全分布式动态事件触发控制机制。在这种完全分布式的动态事件触发控制机制下，多智能体系统的所有智能体都可以达到半全局共识，而Zeno行为被排除在外。最后，