Dynamic Event-Triggered Adaptive Fault-Tolerant Bipartite Formation-Containment Control for MASs via UIO

This article investigates the adaptive fault-tolerant time-varying bipartite formation-containment (TVBFC) problem of multiagent systems (MASs) subject to sensor and actuator faults. The MASs consist of multiple formation leaders (FLs), followers, and one autonomous tracking leader (TL). To begin with, for the followers and FLs to deal with the sensor faults, an output transformation is introduced, and thus an auxiliary output that decouples sensor faults is obtained. Subsequently, for coping with the nonlinear disturbance and actuator faults, a new control-augmented unknown input (CAUI) is constructed. Then, an unknown input observer (UIO), which is able to estimate the states, the CAUI, and the sensor faults simultaneously, is designed via an interval observer. Besides, a Luenberger observer (LO) is designed for estimating the state and sensor fault of the autonomous TL. An adaptive UIO-based dynamic event-triggered control (DETC) protocol is proposed for realizing TVBFC of MASs, and the Zeno behaviors of FLs and followers are also excluded. Finally, three simulation examples are given to demonstrate the effectiveness and advantages of the proposed methods.