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Guo et al. Intell Robot 2023;3(4):596-613 I http://dx.doi.org/10.20517/ir.2023.32 Page 3 of 18

systems [28] and time-delayed systems [29,30] . Designed and implemented an event-triggered formation con-
trol for second-order MAS under communication faults based on linear matrix inequalities conditions on
a real platform of UAVs [31] . Investigates the secure consensus control of multirobot systems with an event-
triggered communication strategy under aperiodic energy-limited denial-of-service (DoS) attacks. Each robot
exchanges the local positioning information with other robots through the unreliable communication network
and determines its consensus control based on transmitted position estimates. The paper proposes a secure
control scheme such that the robots can move to the desired secure consensus position in the presence of at-
tacks. Simulation and experimental results demonstrate the effectiveness of the event-triggered consensus in
practical applications.

In this paper, we investigate the consensus problem for a group of multi-UAVs with communication faults
under the assumption that the position sensor of some individuals is damaged. An event-triggered consensus
protocol is designed for the UAV group based on a centralized triggering mechanism such that the UAV group
can eventually converge to the same speed and position by sensor measurements, even if a sudden change in
speed occurs in one individual.

The main contributions of this paper are as follows. First, we consider the scenario that the states of UAVs are
sensed by their neighbors with communication faults and the position sensor of some individuals is damaged,
which means that their interaction topologies of speed and position are not necessarily the same and the same
topology can be considered as a special case in this paper. Furthermore, we consider the impact of the inertia
index on system consensus and provide quantitative analysis results, similar to the research result in [19] , but
we do not limit the graph to be balanced. Moreover, an event-triggered consensus protocol is adopted to adapt
to the case of this paper.

The rest of the paper is organized as follows. Section 2 formulates the consensus control problem and reviews
the required lemmas. The main results and proof process are arranged in Section 3. Section 4 shows the
simulation results of an illustrative example, and finally, Section 5 concludes this paper.

Notations: Given two matrices , ∈ R × , ≥ 0 and > 0 denote that is positive semidefinite and
positive definite, respectively. = ( 1 , 2 ) denotes that is a column vector composed of 1 and 2.
= ( 1 , 2 ) denotes that matrix is a diagonal matrix with diagonal elements 1 and 2, respectively.
⊗ denotes that and do the Kronecker product. denotes an identity matrix of order .

2. PROBLEM FORMULATION AND PRELIMINARIES
2.1. Problem formulation
Consider a group of UAVs , ∈ = {1, , }, facing communication faults in that partial position sensors are
damaged. The dynamic of each UAV is described by

¤ ( ) = ( )
(1)
¤ ( ) = ( )

where ( ) ∈ R , ( ) ∈ R , and ( ) ∈ R are the position velocity and control input of UAV at time ,
respectively, in the inertial frame. > 0 is the mass of UAV , which can also be generalized as the inertia
index or decision weight.
Remark 1. Referring to hierarchical interaction mechanisms, the decision weight is influenced by individual
attribute, which is determined by social relationships and interaction patterns. Higher decision weight means