Resilient output synchronization dynamic event-triggered control to link faults in heterogeneous multi-agent systems

The fully distributed output leader-follower event-triggered resilient control algorithm is proposed for heterogeneous multi-agent systems (MASs) under communication link faults and constraints. An estimation of the information of the leader is achieved by designing a dynamic event-triggered observer with resilience to link faults without using the eigenvalues of the global matrix. Zeno behavior is also excluded under the dynamic triggering mechanism. Considering that the state information of the follower is not available, a distributed output leader-follower control law is further designed to achieve asymptotically convergence of the leader-follower consensus error, and only the output information of followers is required. Finally, the availability of the theoretical results is shown in two numerical examples.