This article studies the containment control problem of nonlinear multiagent systems (MASs) subjected to communication link faults and dead-zone inputs. In case of an unknown fault in the communication link, there is no constant Laplacian matrix anymore and each follower agent cannot be informed of the global information simultaneously. To deal with this problem, an adaptive compensating estimator is constructed to estimate the signal spanned by the leaders. Instead of using the linear filter, a nonlinear filter is employed, which both solves the classical complexity explosion in the traditional backstepping method and flushes out the usefulness of the boundary layer error. Considering the dead zone input, we propose two event-triggered schemes, that is, the update-triggered scheme and the transmit-triggered scheme. In the former, the threshold function involves the tracking errors and additional dynamic variable, which can provide the desirable tradeoff between the containment control performance of the considered MASs and saving communication resources. In the latter, the triggered condition is designed according to the characteristic of dead zone, which makes the communication burden be reduced further. Following the backstepping design framework, an adaptive containment control is constructed, it is shown that the containment error can converge to an adjustable residual set even if MASs are subjected to the unknown and bounded communication link faults and dead-zone inputs. Finally, an example is given to show the effectiveness of the proposed results.

中文翻译：

---

非线性多智能体系统的自适应分布式控制，具有通信故障和盲区输入的事件触发


本文研究了受通信链路故障和盲区输入影响的非线性多智能体系统 （MAS） 的遏制控制问题。如果通信链路中出现未知故障，则不再有恒定的拉普拉斯矩阵，并且无法同时通知每个从属代理全局信息。为了解决这个问题，构建了一个自适应补偿估计器来估计领导者跨越的信号。采用非线性滤波器代替线性滤波器，这既解决了传统反步方法中的经典复杂性爆炸，又消除了边界层误差的有用性。考虑到盲区输入，我们提出了两种事件触发方案，即更新触发方案和传输触发方案。在前者中，阈值函数涉及跟踪误差和额外的动态变量，这可以在所考虑的 MAS 的遏制控制性能和节省通信资源之间提供理想的权衡。在后者中，根据盲区的特点设计触发条件，进一步减轻了通信负担。遵循反步设计框架，构建了自适应遏制控制，结果表明，即使 MAS 受到未知和有界通信链路故障和死区输入的影响，遏制误差也可以收敛到可调节的残差集。最后，通过实例说明了所提结果的有效性。