In this paper, the distributed adaptive event-triggered fault-tolerant consensus of general linear multiagent systems (MASs) is considered. First, in order to deal with multiplicative fault, a distributed event-triggered consensus protocol is designed. Using distributed adaptive online updating strategies, the computation of the minimum eigenvalue of Laplacian matrix is avoided. Second, some adaptive parameters are introduced in trigger function to improve the self-regulation ability of event-triggered mechanism. The new trigger threshold is both state-dependent and time-dependent, which is independent of the number of agents. Then sufficient conditions are derived to guarantee the leaderless and leader-following consensus. On the basis of this, the results are extended to the case of actuator saturation. It is proved the Zeno-behavior of considered event-triggered mechanism is avoided. At last, the effectiveness of the proposed methods are demonstrated by three simulation examples.

中文翻译：

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具有一般线性动力学的分布式自适应事件触发多智能体系统的容错一致性


本文考虑了一般线性多智能体系统（MAS）的分布式自适应事件触发容错一致性。首先，为了处理乘性故障，设计了分布式事件触发共识协议。采用分布式自适应在线更新策略，避免了拉普拉斯矩阵最小特征值的计算。其次，在触发函数中引入一些自适应参数，提高事件触发机制的自我调节能力。新的触发阈值既与状态相关，又与时间相关，与代理的数量无关。然后导出充分的条件来保证无领导者和领导者跟随的共识​​。在此基础上，将结果推广到执行器饱和的情况。证明避免了所考虑的事件触发机制的芝诺行为。最后，通过三个仿真例子证明了所提方法的有效性。