Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems

Taoufik, Anass, Defoort, Michael, Busawon, Krishna and Djemai, Mohamed (2022) Distributed Passive Fault Tolerant Formation Tracking for Uncertain Second Order Multi-Agent Systems. IFAC-PapersOnLine, 55 (6). pp. 199-204. ISSN 2405-8963

1-s2.0-S2405896322005146-main.pdf - Published Version
Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0.

Download (781kB) | Preview
Official URL: https://doi.org/10.1016/j.ifacol.2022.07.129


This paper deals with the problem of distributed passive fault tolerant formation tracking control for cooperative second order multi-agent systems (MASs) subject to disturbances and sensor/actuator faults. The proposed scheme is based on decentralized observers used to robustly estimate the actuator and sensor faults in spite of disturbances. These estimates are then injected into a dynamic control law in order to mitigate their effects on the control objective. Using the Hcomethod, graph theory properties and the projection lemma, sufficient conditions in the form of a set of linear matrix inequalities (LMIs) are derived to guarantee the stabilization of the tracking errors while reducing the effects of sensor and actuator faults and disturbances. A numerical simulation illustrates the effectiveness of the proposed passive fault-tolerant control scheme.

Item Type: Article
Additional Information: Funding information: This study was funded by the ANR and Region Hauts-de- France under project I2RM. 11th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes, SAFEPROCESS 2022; Pafos, Cyprus; 8-10 Jun 2022
Uncontrolled Keywords: Passive fault-tolerant control, Formation tracking, Multi-agent systems, Actuator faultsSensor faults
Subjects: H300 Mechanical Engineering
Department: Faculties > Engineering and Environment > Mechanical and Construction Engineering
Depositing User: John Coen
Date Deposited: 14 Sep 2022 13:57
Last Modified: 14 Sep 2022 14:00
URI: https://nrl.northumbria.ac.uk/id/eprint/50128

Actions (login required)

View Item View Item


Downloads per month over past year

View more statistics