Fixed-Time Group Consensus Control of Multi-Agent Systems With Actuator Faults Based on Dynamic Event Triggering

In this paper, we study the fixed-time group consensus problem for second-order multi-agent systems under the influence of actuator faults and external disturbances. First, we design a finite-time observer to quickly and accurately evaluate the effects of these disturbances and faults. Then a new non-singular terminal sliding mode surface is constructed, and a fixed-time fault-tolerant controller is designed based on the introduction of a dynamic event-triggering mechanism. The designed control protocol can effectively avoid singular phenomena and compensate and suppress the effects of these faults and disturbance information on the system to achieve fault tolerance. The Lyapunov function is applied to prove that the convergence time of the system is not influenced by the initial value setting, and the Zeno phenomenon is excluded. Finally, the performance of the proposed method is compared with previous methods through numerical simulations to prove its superiority.