Fault-tolerant control of nonlinear heterogeneous multi-agent systems with sensors/ actuators faults under inconsistent Markov via double event-triggered strategy

This paper addresses the fault-tolerant control of nonlinear heterogeneous multi-agent systems with actuators and sensors affected by faults under inconsistent Markov switching topology.A double event-triggered strategy is introduced to reduce the communication burden in the network and to improve the effectiveness.Moreover, to avoid Zero behavior, the considered event-triggered conditions are dependent on sampled-data.Based on this, the state observers and fault estimators are designed to estimate the system states and faults, and the estimation results are utilized to design the fault-tolerant controllers.The stability criterion of the estimated error system can be obtained based on Lyapunov theory and some inequality techniques.Finally, the effectiveness of the proposed method is verified by a numerical simulation.