NN-based fast finite-time fault-tolerant control for second-order multi-agent systems with dynamic event-triggered strategy

This study discusses the fast finite-time consensus (FFC) of the second-order leader–follower multi-agent systems (MASs) subject to actuator faults. First, a distributed fault-tolerant control (FTC) protocol is presented to compensate for the actuator faults. To accelerate the convergence speed of the MASs, a new FFC algorithm is designed to ensure the agents can realize the consensus in a finite time. Neural networks (NN) are employed to identify the unknown nonlinear dynamics of MASs, which are challenging to model or obtain accurately. Furthermore, a new dynamic event-triggered (DET) mechanism is proposed for achieving the consensus. Compared with the static event-triggered (SET) mechanism, the DET mechanism can reduce the trigger times and save resources by incorporating an internal dynamic variable. The sufficient conditions are given for realizing the FFC based on the Lyapunov stability theory. Besides, the Zeno phenomenon is proved to be avoided. Finally, the feasibility of the designed control algorithms is demonstrated by simulations.