This article considers the problem of cooperative fault-tolerant output regulation of linear heterogeneous multiagent systems with actuator faults where the exosystem matrix is known by part of the followers. An adaptive dynamic event-triggered scheme is proposed to avoid continuous communication between followers, removing the assumption that global information should be known for controller design. Different from the existing open-loop estimation method for obtaining intermittent communication, the approach proposed in this article does not require that the system matrices of all agents be the same and known a prior. Compared with the existing static or periodic event-triggered mechanism (ETM), by introducing dynamic variables, a more general form than an exponential function, the proposed adaptive dynamic event-triggered condition provides the potential to save energy and obtain better performance. It is demonstrated that the suggested event-triggered control (ETC) method performs cooperative fault-tolerant output regulation for all followers in a completely distributed way with intermittent communication while excluding Zeno behavior. Finally, a simulation example is carried out to illustrate the efficacy of the suggested strategy.

中文翻译：

---

通过自适应动态事件触发机制的线性异构多智能体系统的协作容错输出调节


本文考虑具有执行器故障的线性异构多智能体系统的协作容错输出调节问题，其中部分跟随者已知外系统矩阵。提出了一种自适应动态事件触发方案，以避免跟随者之间的连续通信，消除了控制器设计应了解全局信息的假设。与现有的用于获得间歇通信的开环估计方法不同，本文提出的方法不要求所有代理的系统矩阵相同且先验已知。与现有的静态或周期性事件触发机制（ETM）相比，通过引入动态变量（一种比指数函数更通用的形式），所提出的自适应动态事件触发条件提供了节省能量并获得更好性能的潜力。结果表明，所提出的事件触发控制（ETC）方法以完全分布式的方式通过间歇性通信对所有跟随器执行协作容错输出调节，同时排除 Zeno 行为。最后，通过仿真算例说明了所提策略的有效性。