Fully Distributed Dual-Terminal Event-Triggered Bipartite Output Containment Control of Heterogeneous Systems Under Actuator Faults

This article deals with the fully distributed dual-terminal dynamic event-triggered bipartite output containment control of heterogeneous linear multiagent systems (HLMASs) subject to actuator faults. First, a class of fully distributed dynamic event-triggered observers is proposed over the directed signed communication network for each follower to estimate the leaders’ system matrices and (symmetric) combination states, which are merely available to a small fraction of followers. Then, based on the estimations of leaders’ system matrices, adaptive algorithms are employed to solve the regulator equations. Furthermore, the fully distributed observer-based dynamic event-triggered controllers are proposed by integrating the adaptive gains to compensate for actuator faults. Dual-terminal dynamic event-triggered mechanisms (ETMs) are addressed to exclude not only continuous control updates but also continuous communication among agents. Correspondingly, some mild criteria and the rigorous proofs are established to ensure the implementation of bipartite output containment through the Lyapunov stability theory. Moreover, the strictly positive lower bounds of intervals between two adjacent event-triggered time instants are derived, which indicates that Zeno behavior is ruled out in the dual-terminal dynamic ETMs. Finally, numerical simulations are performed to demonstrate the theoretical analysis.