Event-Triggered Active Fault-Tolerant Predictive Control for Networked Multi-Agent Systems with Actuator Faults and Random Communication Constraints

This paper proposes a composite control method that integrates an active fault-tolerant predictive control scheme and an event-triggered mechanism for networked multi-agent systems. The approach considers random communication constraints in the forward and feedback channels as well as actuator faults. At each time instant, the event trigger determines whether to send system outputs based on the current system state. A Kalman filter is then utilized to estimate both the system state and potential faults by incorporating system output information transmitted through the feedback channel. Concurrently, iterative predictions are performed according to the established system model. Furthermore, a predictive sequence of control inputs is generated through the designed control protocol. Leveraging timestamping technology, the system precisely applies the appropriate control commands to the actuator at designated moments. As a result, the proposed control method compensates for both random communication constraints and actuator faults while effectively reducing data transmission over the communication network. Finally, the proposed method is validated through numerical simulations.