Fault detection and adaptive event-triggered consensus for LPV multi-agent systems with fading channels

This paper makes a comprehensive investigation on fault detection and adaptive event-triggered consensus for linear parameter-varying multi-agent systems with fading channels. A polytopic linear parameter-varying representation is employed to model the time-varying dynamic behavior of the multi-agent system. Additionally, unreliable wireless communication channels among agents are characterized through the Rice fading framework. A fault detection observer is developed using a combined $H_{\infty }/H_{-}$ approach to generate residual signals sensitive to faults while robust against disturbances. Furthermore, an adaptive event-triggered consensus protocol is proposed to reduce communication overhead while maintaining consensus performance. The event-triggered mechanism can dynamically adjust the triggering threshold based on the changing states. Fault detection capability and consensus performance are analyzed by applying parameter-dependent Lyapunov functions, resulting in sufficient conditions expressed as linear matrix inequalities (LMIs). In the end, simulation results are included to show the validity and superiority of the proposed methodology.