This paper concerns with the robust sliding mode fault-tolerant consensus problem for a class of undertain second-order leader-follower multi-agent systems based on event-triggering strategies. First, a sliding mode fault-tolerant controller which uses the bound information of actuator failure rate and the event-triggering threshold is designed to ensure the robust consensus of the multi-agent systems, and the range of the sliding mode band is also shown. Second, by constructing an equivalent relationship, the upper bound of robust consensus error is also given. Third, the minimum event-triggered execution time for the second-order leader-follower multi-agent systems is calculated. Finally, the simulation results verify the effectiveness of the proposed event-triggered sliding mode fault-tolerant consensus algorithm.

本文研究了一类基于事件触发策略的二阶领导者-跟随者多智能体系统的鲁棒滑模容错共识问题。首先，设计了一个使用执行器故障率和事件触发阈值的绑定信息的滑模容错控制器，以确保多智能体系统的鲁棒共识，并且还显示了滑模带的范围。其次，通过构造等价关系，还给出了稳健共识误差的上限。第三，计算二阶领导者-跟随者多代理系统的最小事件触发执行时间。最后，仿真结果验证了所提出的事件触发滑模容错共识算法的有效性。